You can take a 5' step as long as you have one of the listed movement speeds (swim, fly, climb, burrow, etc.), and more than 5' normal movement in that type.
This does not negate the need for swim/climb checks as normal, but a creature with the appropriate movement type gains an inherent bonus to the check and can always take 10 (even while threatened).
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What Snig said. If you have a listed speed for that movement type, you can 5 ft step with it. "Step" really is a misleading thing to call it, even the normal ground-pound version is seldom a single step.
I will say that you should not be able to do a flying 5 ft step "up" (straight nor diagonally so) unless you are able to fly up without halving movement. In D&D 3E, those with perfect maneuverability could do so, anyone else had their movement halved when trying to do so due to gravity and such (thus, trying to do a "5 ft step" would consume 10 ft and be impossible, much like trying in difficult terrain). I...have no clue how movement in 3 dimensions works in PF, their flight rules are a hot mess. Can't even find anywhere that says flying upwards takes more movement than other directions.
Also, I could understand a DM not allowing a burrow 5 ft step. RAW it should work, but...that's just weird.
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...and to nail Sniggevert's points home, here is the info from the PRD:
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Take 5-Foot Step
You can move 5 feet in any round when you don't perform any other kind of movement. Taking this 5-foot step never provokes an attack of opportunity. You can't take more than one 5-foot step in a round, and you can't take a 5-foot step in the same round that you move any distance.
You can take a 5-foot step before, during, or after your other actions in the round.
You can only take a 5-foot-step if your movement isn't hampered by difficult terrain or darkness. Any creature with a speed of 5 feet or less can't take a 5-foot step, since moving even 5 feet requires a move action for such a slow creature.
You may not take a 5-foot step using a form of movement for which you do not have a listed speed.
RPG Superstar 2011 Top 32
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Can't even find anywhere that says flying upwards takes more movement than other directions.
Without making a check, a flying creature can remain flying at the end of its turn so long as it moves a distance greater than half its speed. It can also turn up to 45 degrees by sacrificing 5 feet of movement, can rise at half speed at an angle of 45 degrees, and can descend at any angle at normal speed.
Emphasis mine.
The DC20 check to rise at a steeper angle than 45 degrees doesn't seem to eliminate the half speed penalty.
To be fair, flight rules have pretty much been confusing going as far back as 1e. A turn-based game doesn't especially model situations where multiple combatants are in continuous motion in three dimensions very well.
Also, would I be correct in thinking you cannot do a 5' step whilst flying with the fly spell as it says "The subject can fly at a speed of 60 feet" but does not say you get a listed fly speed?
Also, would I be correct in thinking you cannot do a 5' step whilst flying with the fly spell as it says "The subject can fly at a speed of 60 feet" but does not say you get a listed fly speed?
I think this is an unnecessarily restrictive ruling.
Also, would I be correct in thinking you cannot do a 5' step whilst flying with the fly spell as it says "The subject can fly at a speed of 60 feet" but does not say you get a listed fly speed?
No, you would be incorrect. You have a listed fly speed, thanks to the fly spell. It is 60 ft.
Would you tell the person with the fly spell he can never move more than 60 ft flying in a turn (say, with a double move) because the spell "only says you can fly at a speed of 60 ft"? Would you assume they mean 60 ft in a round as a hard cap? If you're going to be so insanely literal, speed is a distance over time, and they never specify the time interval. For all we know, it could be 60 ft over a minute! I mean, it's just so unclear, what's a person to do?!
....Use common freaking sense. That's what.
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Also, would I be correct in thinking you cannot do a 5' step whilst flying with the fly spell as it says "The subject can fly at a speed of 60 feet" but does not say you get a listed fly speed?
I hope that your GM does not require that the PCs and monsters use their full movement each round for normal movement as well...