KiCad can use step files but you will most likely need to align the models to the footprint either in a cad program and reexport as step or in the footprint settings. The former is quite easy with Freecad and the kicad-stepup workbench. The later will be finicky and could require you to update all footprints depending on how the step models are made.
Further reading:
- KiCad StepUp Cheatsheet
- Tutorial: How to make a footprint in KiCad 5.1.x (From scratch)? (Section “3D-Model assignment”)
- Library management in KiCad version 5 (Tips about how to make your library setup including 3d models future proof)
- What is the difference between step and wrl 3d models? (The two 3d model file formats supported by kicad)