Steele made 7 of 14 shots and all 10 of his free throw attempts while Waite knocked down 10 of 11 tries from the field. Stephen Spinella went 5-of-7 shooting for Monmouth (10-17, 5-9 Northeast Conference), which shot a season-high 56.5 percent (26 of 46).
St. Francis (10-15, 6-8), which trailed by as many as 11 in the first half, clawed back to tie it at 55 with 6:40 left to play. But Monmouth scored the next six points -- four coming from the charity stripe -- to pull away.
The Terriers did not get any closer than four the rest of the way as Monmouth sank 10 free throws in the last 3:35.
Travis Nichols led St. Francis with 20 points.
Former Kentucky guard Ed Davender, the only Wildcat with at least 1,500 points and 400 assists, has died. He was 49.
Guard Naz Mitrou-Long, whose 2015-16 season ended in December due to hip problems, has been granted a hardship waiver for the coming season, Iowa State said.
As the Sooners look to life without superstar Buddy Hield and his sidekicks, it's clear their unseasoned players will need to grow up fast.