Mr Crosby said the city "turned its back on the waterfront in the 60s and 70s", but the new plans would help revitalise the waterfront.
"It's an amazing environment to be in," he said.
In the council meeting, councillor Bill Granger said the Access to Water Project 2015 was "well-needed".
"The waterfront is the gem of the city," Mr Granger said.
"So let's utilise what we can."
Brand strategy director of Revolution Shoppers Marketing, Barbara Bentley, said it would help make the city look more attractive.
"I just think from a designer perspective it's great," Ms Bentley said.
Ms Bentley thought it was "fantastic" that the Tauranga City Council was looking at ways to enhance Tauranga central.
Creative Space director and senior consultant Andre Laurent said the design worked well with the area.
"I think it's really good - quite good interaction with the street," Mr Laurent said.
"I think it's great. Great for the city."
Mr Laurent said continuing the design in both directions along the waterfront would be an ideal concept.
The only councillor who voted against proceeding with the Access to Water Project was Catherine Stewart who said that it was a large amount of money to be spending on steps.
The tidal steps will cost up to $2.6 million and the pier and pontoon will cost $584,000.
The Long Term Plan 2015 - 2025 had an $8 million budget allocated to the delivery of "streetscape, open space and waterfront amenity infrastructure" in the Tauranga City Centre and identified access to water on the Tauranga Waterfront as a priority project for delivery.
Private sector investment will be explored to attract commercial return.
Since the Long Term Plan was adopted in June, a process has been under way to develop a design concept for access to the water along the Tauranga Waterfront.
The completion of tidal stairs, a pier and pontoon in front of the existing playground and Hairy Maclary site was identified as the first project for delivery.
