Try something like this (using a transfer function from the documentation) —
sys = tf([1 5 5],[1 1.65 5 6.5 2]);
stinf = stepinfo(sys);
stinft = struct2table(stinf);
VarNm = stinft.Properties.VariableNames;
Vals = stinft{1,:};
VarNms = string(VarNm);
figure
step(sys)
text(mean(xlim), min(ylim)+mean(ylim)*0.1, compose('%s = %7.3f', [string(VarNm); Vals].'), 'Horiz','left','Vert','bottom', 'Interpreter','latex' )
.

