I'd suggest researching the stepper motor side of things in more detail.
Classically the problem with steppers is winding inductance. To make them spin fast, you have to use a far higher than rated voltage to shove current through the winding inductance at high step rates. If allowed to remain in steady state, this would fry the windings or even demagnetize the rotor, so PWM current control chopping is implemented. You can get chips to do this - like the L297 & L298 pair for "printer-sized" stepper motors, but their max voltage isn't high enough for "hobby CNC machine tool" scale usage. A simpler option for small motors is to use a high voltage and a power resistor in series with the winding - wasteful, but it does work.
But if you only have small motors, you don't have to worry about that anyway. In that case, you have to decide if you get enough steps from the combination of using windings fully energized alone, combined with half steps where both windings are energized. If that's not enough, you'll need to drive fractional currents into the two windings to get finer positions. If intending to spin fast, you'd need to combine this with chopper current control to overcome inductance, but if spinning slow you can merely use a PWM algorithm without feedback to establish proportional currents in the two windings after the inductance has been overcome.
I'd suggest getting the motor and a bench supply and doing a little playing. For one thing, figure out exactly what you mean by steps compared to what the motor data plate does - how many cycles of (winding one up, winding two up, winding one down, winding two down) does it take to make a revolution? You can get twice that number by adding the both windings cases, before you get into needing proportional currents to go smaller.