I would recommend any Jiffy Steamer. They have the professional ones, personal ones and travel ones. I own the professional and have used the personal, but never the travel. But, I trust the brand and if you don't like it they will refund you.
As far as steaming lycra it is the heat that breaks down the lycra, that is why it is advised not to put lycra in the dryer. You can steam it and I would prefer steaming over a hot iron, I would just do it sparingly.
Here is the link to Jiffy
Clothes Steamers, Garment Steamers, Fabric Steamers, Travel Steamers