Steel has signed from the Railwaymen from league rivals Guisborough Town, for whom he has scored 12 goals already this season.
Palmer arrives from another NL First Division outfit, Seaham Red Star.
He is a quality player who can perform in the centre or right of midfield and has scored over 50 goals in 100 games for Seaham in two spells.
His other former clubs include South Shields, Bishop Auckland and Jarrow Roofing.
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