Espindola broke a scoreless tie in the 60th minute with his first tally in nine games after picking up a pass from Eric Alexander in full stride and putting a shot past Dynamo goalkeeper Tally Hall.
Steele provided an insurance score in the 88th minute on a wicked shot into the top corner of the net as the second-place Red Bulls (8-6-4) recorded their first win since May 19.
Houston (6-6-5), meanwhile, saw its winless streak extend to seven contests.
Kate Moss Playboy shoot is classic Playboy, classic Kate
Caroline Berg Eriksen: Soccer player's wife triggers debate with post-birth selfie