You can use cheesecloth too if you don't have a steamer basket. It's similar to making am herb sachet for soups and stews, but on a larger scale. We've used cheesecloth before when making stock and broth on the stove and it works great.

Also, anything with bones is stock, not broth. Stock is thicker and tends to be less flavorful, while broth and thinner and tends to be more flavorful. Stock is also better when needing to thicken something, like gravy.