After reading the button to delay the execution without stopping action before a

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TeodorBogdan:
If i push the button to stop the stepper, i do not want to stop it instantly,

You need to save the value of millis() when the button is pressed and then repeatedly compare the saved value with the latest value with code something like this

if (millis() - buttonPressedMillis >= 2000) {
   // time is up, so do your stuff
}

The demo Several Things at a Time is an extended example of BWoD and illustrates the use of millis() to manage timing.

...R