Both STL and DAE formats are used for CAD modeling purposes, so it is likely that some programs may be able to perform stl to dae conversion. However, this will likely only work for meshes as STL format is somewhat limited (for 3D printing) in other data.
Open STL file Open DAE fileA CAD 3D geometry translation software
A Mac version of the popular 3D visualisation software
A converter for 3D formats
An online CAD conversion service
A web-based freemium 3D computer graphics software
An open source multiplatform 3D CAD/MCAD/CAx/CAE/PLM modeler
A polygon modeler for 3DCG and game development
A free online 3D model conversion service
A commercial online CAD converter
A 3D CAD translation software