I was recently in need of this style of notation as well. To make it easier for others to get started using it, I am just combining the comment of Alan Munn and the answer by yannis.
Indeed the best way to produce derivations of the Steedman style is to use the .sty files provided by github.com/jasonbaldridge/cg-latex. Simply copy them into your working directory, and then use this MWE:
\documentclass{article}
\usepackage{ccg}
\usepackage{amstext}
\begin{document}
\deriv{5} {
\text{Female} & \text{astronaut} & \text{sets} & \text{new} & \text{record} \
\uline{1} & \uline{1} & \uline{1} & \uline{1} & \uline{1} \
\text{N/N} & \text{N} & \text{(S\bs NP)/NP} & \text{N/N} & \text{N} \
\fapply{2} & & \fapply{2} \
\mc{2}{\text{N}} & & \mc{2}{\text{N}} \
\uline{2} & & \uline{2} \
\mc{2}{\text{NP}} & & \mc{2}{\text{NP}} \
& & \fapply{3} \
& & \mc{3}{\text{S\bs NP}} \
\bapply{4} & \
\mc{4}{\text{S}} & \
}
\end{document}
Which produces:

For the documentation you can refer to the Readme in the repository or, much easier, the manual by yannis which has since moved to here.