I personally use some hacks to export my steps into a markdown file. In the past I've tried linking to a 3rd party test case manager, but I've always found that it conflicts with my automation goals. When creating Cypress tests, apart from coverage, my next goal is to avoid redundancy and shorten execution time. When creating written tests the goal is readability. Those two goals don't always coexist. So I chose to focus on the former, and I use the markdown file to communicate coverage to people. I label primary assertions as "checkpoints". The output looks like this (see reply message).
The approach is good enough for now, but can surely be improved. We still use a test case manager for the remaining manual tests.
Also note that these are QA-centric end-to-end tests (on an app with server-side rendering), not smaller tests that a developer might use.