There are several small crags that are all very close here. The Steinfelder Wändchen is a small wall that offers little routes and bouldering. The Steinfelder Wand is about three times the height as the Wändchen, as is the Steinfelder Turm. On the Steinfelder Turm are some of the best routes in the area.
The Steinfelder Wändchen has a different parking area for it, and is detailed in its own section. To access the other crags in this area, travel from wherever you're coming from to Steinfeld. If you're coming from Nürnberg, take the A73 north to Bamberg, then the A70 East towards Bayreuth. Exit at Exit 19 and take a right towards Roßdorf. After a short while you will see a sign pointing to your right to Steinfeld. Turn here. After about 1.5km you'll see the crag on your left and a parking area right in front of it. Park here and walk up to your desired crag.
Mountain Project's determination of some of the classic, most popular, highest rated routes for Steinfeld area: