Steamed things can be quite delicious. Veggies steam quickly, and don't get as mushy and gross as they do when you boil them. Dumplings are meant to be steamed. Potatoes, I discovered today, also steam up really well. (A friend suggests steamed potato pieces mashed with coconut milk. Sounds awesome!)
In both cases, you want the water to be below the food, even as it boils and bubbles. But you can't let your pot run out of water. That'll burn your bamboo or start your pot smoking (hehe) and that is not good for the taste of your food.
You can also get a basket insert for your rice cooker, if you have one, which does the exact same thing at the same time as it cooks your rice. (Or doesn't cook your rice, if you're not having rice. Just be sure to get the water hot before you start timing.)
Steam for as long as you like, but you can overcook with steam. Small veggies can take as little as 3 minutes. Here's one suggested table of cook times.