I use Chausiubao's steaming technique all the time - works fine as long as the bread is sliced or relatively small. It wouldn't work for 1/2 a loaf b/c it would take too long for steam to penetrate the inside; the outside would get mushy before the inside got moist. This technique is best for dense breads (like a left-over bagel sliced in half).
If the bread is soggy after steaming you've steamed it too long. You want just gentle steam and let it vent from the lid of the steamer. Or, instead of a lid, cover the top of the steamer with a folded tea towel.
I think next time I refreshen bread by steaming I might try puttiing the bread in a paper bag before steaming it; that would protect the bread from too much direct contact with moisture. Nice idea. I love low-tech solutions.