First of all, I agree with the others that there is no harm done by plastic bags for sous vide. I have read a statement by the manufacturer that brand-name Ziploc bags don't release anything below 76°C. If you think how much a lawsuit could cost them if the information turned out to be wrong, I trust that they are telling the truth. For other brands, you may have to do some research about safe temperatures.
If you are still unconvinced, your choice of material is very limited. You say it must be airtight and waterproof; I'll add that it must be pliable, so it can cover an irregular steak shape perfectly, without leaving air pockets, and it must somehow be able to create a seal. Also, it must not release any harmful chemicals by itself.
About the only thing that fulfills all criteria would be a wax with a high melting point, like carnauba wax. You could paint the steak with the melted wax, or, probably better, you could soak a piece of gauze in the melted wax and wrap the steak in it, pressing out any air bubbles. Then let it cool and set before cooking. The downside: not only is the food grade wax difficult to source for private people, it also can end up costing quite a bit.
Another option would be silicone, like the one used for baking pans. Unlike plastic, food grade silicone does not contain any chemicals which could leak - the medical sector uses the same stuff for prostethics and implants; it is safe to have it inside your body, so it is definitely safe to cook your food in it. The problem is that you'll need a sealable bag made of silicone, and I don't know if anybody manufactures such bags.
You might consider very tightly wrapping the meat in a caul (not necessarily an amniotic caul, a peritoneum should do nicely) and binding it, but I don't know where you can get cauls. Maybe you can ask a butcher. Also, it probably won't be 100% watertight (but still enough to keep the tasty juices in the steak where they belong, instead of having them flow out into the water).
If you are willing to relax your rules a bit, you can solve the problem much easier. I think you will agree that whatever hypothetical substance might leak from a plastic bag, it cannot travel far through a solid medium. So a steak wrapped in something protective and then sealed in a plastic bag should be safe - you just discard both the plastic bag and the presumably contaminated protective substance. Yes, it is possible that meat juices that have come in contact with the plastic bag end up on the steak, but the possible contamination should be hundreds of times less than if direct contact is allowed between the plastic and the meat.
If you can live with this option, the usual insulators used in the kitchen should do. They are plant leaves - I'd use grape leaves, but you can use practically anything that is big enough - and batters, like tempura batter (breading leaves an irregularly shaped surface, so I won't consider it here, you'll end up with lots of miniature air pockets). If using a batter, you will want to first set it in a pan with very hot oil, just hold it there long enough to set the batter, but not enough to warm the meat on the inside above the sous vide temperature. Both of these options wont't function on their own, as they won't create a sealed waterproof barrier. But combined with a plastic bag and later discarded, they should be a good solution. The leaves will also add a nice taste of their own.
Pretty much...yes, but you can fix it!.
When you properly sous vide or very slow cook anything, you'll retain more of the myoglobin color because of the even cooking that often doesn't go above 140 at all. So a properly cooked steak like this will retain much more of its red colored myoglobin. Simply put, the meat will have more red juices to release! (Its a great, great thing about sous vide.)
As @Ronald mentions, the other thing is the resting of the meat. It's an important step as the muscle fibers relax after the heat is off and hold juices better then. An often misstep for the home cook is they allow a hot piece of meat to rest on a flat, solid surface. This causes the bottom of the meat to steam against the board, open the fibers in the meat more, and release the juices on to the board. Rest your meat on a raised baking rack so that it has air circulation all around it.
After a short rest - for most steak 10 minutes is fine, then you can cut into the steak. Use a very sharp knife to slice. The meat here is essentially a sponge and you don't want to compress it and squeeze out the juices. A dull knife will do this and you'll lose more juice on the cutting board again. Use a sharp knife and apply steady, even, but light pressure while slicing - let the edge do the work (if it won't, sharpen the knife more).
Best Answer
You can certainly get good steak without sous vide, both in color and taste.
The quality of the meat matters, but is not the only variable. You should get the proper cut, and while the cow diet is not necessary for a red color, if it was slaughtered too young, the meat will be lighter in color. Not grey though, just a less saturated pink-red. And make sure that you have a thick enough cut, something very thin will not get a pink center.
The more important part, especially with your greyish results, is the temperature. If you get grey meat that is not juicy enough, you are overcooking your steak. It could be that your thermometer is inaccurate (hopefully you have a digital one, the analog ones aren't very useful), or simply that you are not accounting for the proper cooking process.
The temperature you see on the temperature chart is the final internal temperature at the core of your meat. You have to account for additional temperature rises both from the sear and from carryover during resting. So, if you think you want a 57 C steak, you should stop cooking it at maybe 54 (depends on thickness), and even earlier if you are doing a sear. The sear itself should be on a really hot pan, so you get a very short duration, maybe 15 seconds per side. It could also be that your preference is for a steak that is rarer than the average medium rare (that would be at 57 C), and/or that your thermometer is consistently undermeasuring the temperature.
Whatever the reason, just continue taking the meat out at lower thermometer readings until you get a result you are happy with, then stick with repeating it that way no matter what the thermometer shows.