The longtime Arnold resident was 90.
During World War II, he served in the infantry for two years. After the war, he earned a bachelor's degree on the GI Bill of Right in 1951 from the University of Maryland.
Mr. Steinkraus worked as a financial manager for Ewell Motors in Glen Burnie and the Internal Revenue Service in downtown Baltimore.
He was a financial manager for more than 20 years for the Naval Air Systems Command in Crystal City, Va., until retiring in 1983.
Mr. Steinkraus was an avid golfer and a member of Bay Hills Golf Club in Arnold and Sherwood Forest Golf Club.
He also enjoyed traveling with his wife of 66 years, the former Catherine May Over, who died last year.
Mr. Steinkraus was a member of Asbury United Methodist Church in Arnold, where funeral services were held Feb. 10.
Surviving are two daughters, Linda K. Steinkraus Evans of Arnold and Julie A. Smith of Jefferson, Ohio; five grandchildren; and six great-grandchildren.