Steep
To steep is to extract the flavor and aroma from a food by soaking it in water just under the boiling point, such as steeping tea.
Useful Links:
What does the Cooking Term Steep Mean? – Questions and Answers
What does “steep” mean in cooking? | Reference.com
Fun related videos

You're Doing It All Wrong - How to Steep Tea

Cooking Tips : How to Steep Chamomile
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You're Doing It All Wrong - How to Steep Tea
Source: Chowhound
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Cooking Tips : How to Steep Chamomile
Source: cookingguide