If you are referring to the smaller hoop style steps that became popular in the 80's, I think, before the full length pipe "nerf" bars came onto the scene, those hoops mostly mounted into nothing but the body metal and caused some significant problems after a few years. Like torn and cracked floor pans and such. The best option I've seen for what your wanting is an extended length side step bar. They have 3 step pads on them. Haven't seen any in a while, but haven't had the need to look either.
2007 3500 4x4 QCLB DRW, 5.9, G56 SBDD, Airdog II 165-4G, S&B intake, 4" straight exhaust, TS MP-8, Autometer factory match boost and pyrometer.