A sieve over boiling/simmering water is easy and cheap.

Bamboo is nice and good.

I like Sarah's "restaurant" method but I have used a dollar-store metal steamer for decades ... and no metallic taste since veg steam so quickly.

I use an All-Clad steamer insert virtually every day. Several sizes, around sixty bucks. If you're looking for a relatively inexpensive folding type, Oxo makes a good one.

A fine-meshed sieve over a pot of simmering water does the trick