stovetop, 2 quart pot, 1/2 cup water, one of these steam basket insert things, covered with lid, front burner high heat for 5 minutes flat from cold, they come out crisp and perfect with a little salt. i don't boil any fresh veggies any more , just use this steam technique. still boil frozen veg like mixed, and frozen peas and such.

For me I melt butter and minced garlic together in a shallow 10 inch pan until it gets fragrant and not burnt (important to watch). I sautee the fresh green beans in that, after the butter melts for a few minutes, then add 1/4 cup of water.

Get that to a low simmer and cover the top with a slight angle to the lid to let the steam out. After 10-15 minutes the outside of the beans are softened and most of the water is gone (whilst you make sure no green beans are on the bottom of the pan too long occasionally) and I add some onion and garlic powder, salt/pepper to taste, and (if wanted when most of the water is gone) a slice of butter for one last sautee with the final seasoning.

It's a bit long in writing but I've never had complaints about my "steamed" green beans.