Yeah perhaps, I supposed something like a traction engine (like you had said), with some sort of thick rubber band wrapped around the circumference of the enormous steel drive wheels. I don't want to use a conventional wheel (like something from some construction equipment) because those huge steel spoke wheels are so iconic and cool. As for the boiler, it would have to burn a liquid fuel, such as oil or natural gas, otherwise I think shoveling coal into your boiler counts as a form of distracted driving. It could be electronically (or preferably, mechanically) regulated as to automatically control the temp of the boiler. The steam regulator lever would be mounted near the drivers seat, and the steam valve would be controlled by the drivers right foot (like a throttle). Steam driven brakes would also be a must. As far as steering, a hydraulic steering system (controlled by a steering wheel) would probably work best, so you don't have to mechanically link the front wheels all the way back to the cab. The front wheels could be conventional heavy truck wheels.
Of course it would need all the proper turn signals, brakelights, headlights, etc.