We set out a general protocol for steering the state of a quantum system from an arbitrary initial state toward a chosen target state by coupling it to auxiliary quantum degrees of freedom. The protocol requires multiple repetitions of an elementary step: During each step, the system evolves for a fixed time while coupled to auxiliary degrees of freedom (which we term “detector qubits”) that have been prepared in a specified initial state. The detectors are discarded at the end of the step, or equivalently, their state is determined by a projective measurement with an unbiased average over all outcomes. The steering harnesses backaction of the detector qubits on the system, arising from entanglement generated during the coupled evolution. We establish principles for the design of the system-detector coupling that ensure steering of a desired form. We illustrate our general ideas using both few-body examples (including a pair of spins-1/2 steered to the singlet state) and a many-body example (a spin-1 chain steered to the Affleck-Kennedy-Lieb-Tasaki state). We study the continuous time limit in our approach and discuss similarities to (and differences from) drive-and-dissipation protocols for quantum state engineering. Our protocols are amenable to implementations using present-day technology. Obvious extensions of our analysis include engineering of other many-body phases in one and higher spatial dimensions, adiabatic manipulations of the target states, and the incorporation of active error correction steps.