Yes, the Arduino can easily read 0-5V signals with the ADC, which translates the voltages into values ranging from 0 to 1023.
Based on those values, your program can then make decisions about how to move the steppers.
There are many simple examples included with the Arduino software that will teach you to use the ADC, make decisions, etc. Many other tutorials on this forum and elsewhere teach about how to use stepping motors, etc.
Finally, to run four stepping motors will require four motor drivers and a substantial power supply. Don't try to power any motors from the Arduino directly.
Sounds like a fun project!