It would certainly be handy to have this feature embedded in KiCad, but at the moment, the KiCad StepUp workbench for FreeCAD by Maurice / easyw / @maui is the best way to align a STEP model with it’s KiCad footprint (in FreeCAD), and then export a STEP / WRL combo. It also takes care of scaling and rotation issues.
StepUp tools has evolved a LOT since 2015, with a ton of features added now.