You will need HotDocs Developer version 11.0.1 or later to create HotDocs templates for use with Actionstep.
Packages are created using the Cloud Upload plugin that installs by default with Developer 11.0.1. It is accessed from the context menu at the main HotDocs library window. Right-click on one or more templates or folders, and choose Upload... from the context menu.
The upload plugin is designed (foremost) to create packages and upload them directly to a host application (see http://help.hotdocs.com/cloudservices/#Host_Features/Manage_storage_of_HotDocs_Templates.htm) but it can also be used to create packages without uploading them.