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this paper the authors deal with the famous Steiner formula, dating back to the 19th century, which expresses the volume of the parallel set of a convex body \\(K\\) at distance \\(r\\geq 0\\) as a polynomial in \\(r\\).NEWLINENEWLINEA first fundamental extension of the classical Steiner formula is Minkowski's theorem on the polynomial expansion of the volume of a Minkowski sum of several convex bodies, leading to the theory of mixed volumes. The existence of a similar polynomial expansion has been later established also for continuous translation invariant (real valued) valuations, by \\textit{P. McMullen} [Proc. Lond. Math. Soc. III. Ser. 35, 113--135 (1977; Zbl 0353.52001)] and, independently, by \\textit{C. Meier} [Arch. Math. 29, 210--217 (1977; Zbl 0359.52006)] and \\textit{W. Spiegel} [Geom. Dedicata 7, 9--19 (1978; Zbl 0376.52002)].NEWLINENEWLINE While classical results on valuations were mainly concerned with real and tensor valued valuations, a very recent development explores the strong connections between convex body valued valuations and isoperimetric and related inequalities.NEWLINENEWLINEIn this article the authors establish a Steiner type formula for continuous translation invariant Minkowski valuations (i.e. valuations taking values in the topological semigroup of convex bodies endowed with Minkowski addition). 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