This study aims to design a STEAM virtual reality (VR) learning environment for engineering students, as well as evaluate the practicability of the learning environment. This study adopted Fuzzy Delphi Method by inviting six experts in the fields of VR application, STEAM education, and engineering education to execute the expert questionnaire survey, in a bid to build up a capability indicator of STEAM education and carry out the STEAM VR environment practicability evaluation serving as a foundation of the further development of curriculum. According to our study findings, the most important capability indicator in STEAM is “Hands-on Skills”, followed by “Problem Solving”, “Daily Life Application”, “Sensory Learning” and “Interdisciplinarity”. In terms of the practicability evaluation of STEAM VR learning environment establishment, the highest scoring element is “Interactivity”, followed by “Engagement”, with “Imagination” being the lowest. This study serves as a reference for future educators and researchers in establishing a STEAM VR learning environment.