The seven-qubit quantum error-correcting code originally proposed by Steane is one of the best known quantum codes. The Steane code has a desirable property that most basic operations can be performed easily in a fault-tolerant manner. A major obstacle to fault-tolerant quantum computation with the Steane code is fault-tolerant preparation of encoded states, which requires large computational resources. Here we propose efficient state preparation methods for zero and magic states encoded with the Steane code, where the zero state is one of the computational basis states and the magic state allows us to achieve universality in fault-tolerant quantum computation. The methods minimize resource overheads for the fault-tolerant state preparation and therefore reduce necessary resources for quantum computation with the Steane code. Thus, the present results will open a new possibility for efficient fault-tolerant quantum computation.