Commonly used for building prototypes these boards allow you to simply plug in components and power things up to see if wiring is correct and things work...
Look at Amazon.com, Sparkfun.com, eBay, etc. for "breadboard" and "ribbon jumpers". The top and bottom have pin sockets that run left-right connecting everything together.
In my graphic at the top the first row is Ground. The second row is Vmot, often 12V or 24V which goes to the stepper drivers/motors and a voltage regulator that turns the 12-24V into 5V that runs the Teensy3.2.
At the bottom in a similar arrangement is the "logic power" coming from the Teensy3.2 micro-controller's on-board voltage regulator that provides +3.3V to power the stepper driver logic sections and Bluetooth module (or ESP-01 WiFi.)
In between the power bus's (top/bottom) is the signal area where there are two sets of vertical connections per column each with five positions but not connected across the center. The pins on the Teensy3.2, stepper drivers, and Bluetooth module can then be joined with jumper wires.
Notice that I used a fuse, I recommend starting with a 2A one. If finding a breadboard fuse holder is difficult search around for "inline dc fuse" and use that instead. This is a good idea even if the power supply (like this one) has protection built in.
OnStep can use different "pin maps" and the following is designed for the Config.MiniPCB.h wiring!