Tropika Island of Treasure was filmed before Steenkamp was found dead at Paralympian Oscar Pistorius's home and was broadcast on Saturday evening (February 16) "dedicated to Reeva's memory".
Of the decision to go ahead with the show, producer Samantha Moon told BBC's Newshour: "I took it after consultation with her family.
"The feeling was that this is an amazing woman who you don't have very much in the public domain except for the work she was most well-known for... which is her modelling work."
She continued: "We felt that it was important for people to know that there was more to the narrative of Reeva than an exceptionally beautiful girl in a bikini, that she was strong and vibrant and funny and lovely and that this is a tragedy on an unspeakable level."
Tropika Island of Treasure was a reality show with a one million rand (£73,215) prize, shot on location in Jamaica.
Pistorius will face a postponed bail hearing tomorrow (February 19) after pleading not guilty to Steenkamp's murder.
Gallery - Oscar Pistorius in pictures:
Copyright: PA Images