Yes. In the Test Plan Tree, right click on the test you want and select "Report Selected". Then when the Planning report comes up, click on the little gear icon, "Configure Reports and Sub-Reports". Right click on the "--Planning Report" in the second column and select, "Add Sub-Report -> Design Steps". Then I would uncheck the Grid View and Attachment Boxes under the "Custom Field Layout" option. Then click apply. And there is your test and all of its steps.
I should have given a bit more detail on what I was looking for. I would like to have it setup where it just has the test cases in a table with 3 columns: Test Case Name, Steps, and Expected Results. Thanks.