How to Steam Green Beans. Rinse your beans in water. Add a little water to the bottom of the saucepan. Cover the saucepan with the steam control valve open and put on medium heat. When the steam control valve whistles, lower the temperature. Now the beans are simmering below the boiling point. Now close the steam control valve to finish cooking. The green beans will be ready to eat in about 10 minutes. The beans will be steaming hot and delicious. This is fast and your vegetables will taste great. The green beans are tender and not overcooked. Using waterless cookware, they will retain their natural color and sweetness. Watch the waterless cooking instructions video to make healthy steamed green beans.