On the matter of CV joints or U joints.
If sized for the torque....and not necessarily the Horsepower, they should work fine.
IC engines make their torque at high RPM, comparitively, to a low speed steam engine. At 2 hp, @ 600 rpm the torque of a launch steam engine is 10 times what a 2hp outboard puts out at 6000 rpm.
The pertinent formula is the following
Power = 2 x pi x (Revolutions / time) x Torque
Horsepower (HP)= (2 x pi x N x T)/33,000 with units of revolutions per minute and torque unit of pound-feet.
Re-arranging, we can solve for torque
T (torque) = HP x 33000/(2 x pi x N) Keep the units straight!
Now when you look at the spec sheet for a CV or U joint, they usually give a capacity in terms of HP @ some RPM. Knowing that you can determine how much torque the joint is rated for.
How much torque can a 5 hp steam engine put out at 300 rpm?
OK The power output is 5 HP, and N = 300 rpm
( OK...this only applies if you REALLY have 5 HP ....Measuring is another post)
T= 5 x 33000 / (2 x pi x 300) = 87 pound-feet
Now lets look at a catalog of cv/u joints.. typically they are rated at 1750 or 3600 rpm,....and I am being hyperthetical here
Lets look at what HP would be required at torque level of 87 pound feet and 1750 RPM
HP = (2 x pi x 87 x 1750)/33000
HP = 29 Horsepower @ 1750 rpm
To summerize....it takes a U joint ( or CV joint) that is rated at 29 HP @ 1750 rpm to handle the torque of a 5 HP steam engine at 300 rpm.
Amazing what some brute torque can do huh!
This will be a fairly substantial joint.....and it will by its very nature act as a flywheel and smooth out the rotation of the whole system.
Don't forget...you always need 2 U joints .....never one.
Here's a picture of mine for a 2-3 HP compound...works great!

Dave