It appears that conversion of 3D models saved in STEP product data files (.stp, .step) to VRML format (.vrml, .wrl) is possible and can be done in several CAD/3D modeling programs as well as dedicated conversion software like CrossManager or similar.
Open STP file Open WRL fileA 3D product data optimalization software
A CAD converter with huge format support
A 3D CAD translation software