Ansat som docent i 2000 og siden 2009 som lektor i trompet. Udnævnt til professor ved Det Jyske Musikkonservatorium d. 1. april 2013.

Uddannet ved Det Jyske Musikkonservatorium og på Northwestern University i Chicago hos Vincent Cichowicz og Arnold Jacobs. Diplomeksamen samt Musikpædagogisk Diplomeksamen 1992.

Har givet mesterkurser ved Hochschule für Musik Karlsruhe, The Guildhall School of Music, The Royal Academy of Music og London College of Music, London, Birmingham Conservatoire, The Royal Scottish Academy of Music and Drama, Hochschule für Musik und Darstellende Kunst, Frankfurt, Hochschule für Musik Hans Eisler, Berlin, Staatliche Hochschule für Musik, Trossingen, Conservatorio Guido Cantelli, Novara, Italien., Franz Liszt Academy, Budapest, Blekinge International Brass Academy, musikkonservatoriet i Trondheim, Prins Claus Conservatorium i Groningen, Holland, International Trumpet Seminar in Cornwall, International Trumpet Seminar i Sillico, Toscana.

Har afholdt workshops i følgende orkestre: Sveriges Radios Symfoniorkester, BBC Scottish Symphony Orchestra, The Birmingham Royal Ballet Orchestra, The Bournemouth Symphony Orchestra, Norges Radio Orkester, Oslo Filharmoniske Orkester, Kristiansand Symfoniorkester, Malmø Operaens Orkester, Det Norske Blåsensemble, Trondheim Symfoniorkester, de danske militærorkestre, The Band of the Grenadier Guards, London, The Minden Band of the Queens Division o.m.a. Forfatter til bogen "Teaching Brass".

Forfatter til bøgerne "Teaching Brass" og "Blow your mind".

Ansat som gæsteprofessor ved London College of Music i 2004-2007.

Employed at The Royal Academy of Music, Aarhus in 1993 and since 2000 as Associate Professor. Appointed professor in 2013.

Educated at The Royal Academy of Music, Aarhus and at Northwestern University in Chicago with Vincent Cichowicz and Arnold Jacobs. Diploma exam in 1992.

Steenstrup has performed masterclasses at Hochschule für Musik Karlsruhe, The Guildhall School of Music, The Royal Academy of Music and the London College of Music, London, The Birmingham Conservatoire, The Royal Scottish Academy of Music and Drama, Hochschule für Musik und Darstellende Kunst, Frankfurt, Hochschule für Musik Hans Eisler, Berlin, Staatliche Hochschule für Musik, Trossingen, Conservatorio Guido Cantelli, Novara, Italy, Franz Liszt Academy, Budapest, Blekinge International Brass Academy, Trondheim Music Conservatory, Prins Claus Conservatorium in Groningen, The Netherlands, The International Trumpet Seminar in Sillico, Tuscany, The International Trumpet Seminar in Cornwall, England, Trompetentagen in Sankt Gallen, Switzerland, Arctic Trombone and Low Brass Festival, Norway, and the ITA Conference in Aarhus.

Steenstrup has done workshops in the following orchestras: The Swedish Radio Symphony Orchestra, BBC Scottish Symphony Orchestra ,The Birmingham Royal Ballet Orchestra, The Bournemouth Symphony Orchestra, The Norwegian Radio Orchestra, The Oslo Philharmonic Orchestra, Kristianssand Symphony Orchestra, The Orchestra of the Malmö Opera, The Norwegian Wind Ensemble, Trondheim Symphony Orchestra, the Danish military Bands, The Band of the Grenadier Guards, London, The Minden Band of the Queens Division ao.

Author of the books "Teaching Brass" and "Blow your mind".