Display content from Post A inside of Post B?

Is there any method or plugin that would allow us to embed the content of one post in another via shortcode etc.? We are using WP for documentation. We were thinking we could put up a post that’s got a list of the five steps to do something, and have each step linked to the post that explains that step in detail, but we didn’t want people to have to open five tabs to read all the steps. We could probably put in an iframe to load the other post, but then we’d get all of the menus and nav and so forth in the frame.

Suggestions?