In this study, we present a method for free-space beam shaping and steering based on a silicon optical phased array, which addresses the theoretical limitation of traditional bulk optics. We theoretically analyze the beam propagation properties with changes in the applied phase. Different beam profiles can be shaped by varying the phase combination, while a high-order quasi-Bessel beam can be generated with a cubic change to the phase modulation. The simulated results are validated further experimentally, and they match one another well. Beam steering can be achieved with a field of view as large as 140°, which has potential benefits for practical applications. The presented method is expected to have broad application prospects for optical communications, free-space optical interconnects, and light detection and ranging.