As far as DRM free games on Steam goes there aren't a whole lot, but id Software has a bunch of games on there that have had their source code GPL'ed and in those cases you can buy the games from Steam and download alternative DRM free binaries. A couple of games that are supposed to be available on Steam in a DRM free form where mentioned earlier in this thread. But Steel Storm: Burning Retribution is one example, it uses the Darkplaces engine which is based on id's release of the Quake 1 source code.
Edit:
So in other words it is a game with a GPL'ed codebase.


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