My stepper rating is 0.33A per phase, 23.9Ω phase resistance and 29.8mH inductance/phase.
What voltage should I use to drive this motor so that it provides holding torque around 13.7Ncm (rated on motor)?
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You need the motor torque constant. It's sometimes called Kt and/or Ke. This parameter will let you relate current to torque. Then you can work backwards, starting with the torque you want, figure out what the current must be, and then ohms law will tell you what voltage will push that current.