Zone for radiant from a steam boiler??

I've got a 1-pipe steam system circa 1939. My boiler is a newer (1997) Utica oil-fired boiler. The boiler also makes domestic hot water (tankless??) and is connected to a "booster" tank. No complaints about this system. It works great. However....

At some point, I'd like to remodel the kitchen. Currently, there's a radiator inside a cabinet under the kitchen sink (it's keeping the pipes from freezing) and another in a little "dinette" area connected to the kitchen. I'd like to remove both radiators and install radiant floor heating throughout the entire kitchen.

So my question: Is it possible to take a boiler that's making steam and also use it to create a zone for radiant floor heating? What are my options here?

TF