Nope, STP is a CAD format, meaning geometry is created, defined, and stored with mathematical curves. You can't convert something polygonal modeled to NURBS, unless you make a nurbs patch for every polygon, but if it's for printing there are going to be loads of issues in that case. You can model with NURBS (and only NURBS) in maya and export .stp from there I think.
However, .STL is the format for printing, which is a NURBS model converted to triangles, so you end up with the same thing in the end, either from polygonal modeling or NURBS, maybe ask why .STL isn't ok, since it should be.
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Can Maya or ZBrush export STPs at all?
https://extensions.sketchup.com/en/content/sketchup-stl
However, .STL is the format for printing, which is a NURBS model converted to triangles, so you end up with the same thing in the end, either from polygonal modeling or NURBS, maybe ask why .STL isn't ok, since it should be.
Did you ever find a solution to exporting .STP files? I'm currently in a similar predicament.
-L
And a walkthrough of converting .stl to .stp: http://northernhope.blogspot.com.au/2013/05/stl-to-step-with-freecad.html