Sloman will potentially have a shot to challenge Steelers incumbent K Chris Boswell for a job during training camp.
Sloman, 23, was drafted in the seventh round by the Rams out of Miami (Ohio) in 2020. He signed a four-year, $3.37 million rookie deal that included a $75,492 signing bonus.
After some early-season struggles, the Rams waived Sloman. He landed on the Titans practice squad afterward but was not brought back for 2021.
In 2020, Sloman appeared in seven games for the Rams and one game for the Titans, converting 10-13 field goal attempts (72.7 percent) to go with 23-26 extra point attempts (85.7 percent).