You can generate HotDocs templates from within ActionStep in the same way as regular ActionStep document templates.
HotDocs Integration Overview Video
Notes for the HotDocs extension: A user license is required to configure merge field mapping and to generate documents via the HotDocs interview form. Unlicensed users may only access documents once they have been generated. If you remove the extension (or all the licenses) the generated documents will not be affected, but will not be able to be re-generated without a License.
Please see the 'Integrations' section in our Marketplace on our website here for the pricing that applies to your country.