I believe you lose nutrients when you boil the vegetables vs. steaming. Plus, IMHO, boiled veggies come out mushie. I think it's a bit harder to control how cooked they become when you boil them.
I either steam or roast my veggies. Boiling makes things mushy and we hate that. I don't own a real steamer and just use a big pan with a little water in the bottom of it, put the veggies in a metal colander, pop a lid on it and steam away.
I nuke them. I put them in a bowl, put in a few tablespoons of water, cover with plastic wrap and microwave for a few minutes. They steam and it's quick and mess free! Plus it doesn't heat up the kitchen...
I'm with CC....use my microwave. I am using more frozen than fresh veggies in the MW right now. I do have a steamer, but it seems to take longer. One good thing about the steamer, I love the way baby carrots taste when they are steamed!