diff --git a/pkg/minikube/bootstrapper/kubeadm/kubeadm.go b/pkg/minikube/bootstrapper/kubeadm/kubeadm.go
index a85c04402431..5974b1787103 100644
--- a/pkg/minikube/bootstrapper/kubeadm/kubeadm.go
+++ b/pkg/minikube/bootstrapper/kubeadm/kubeadm.go
@@ -17,8 +17,10 @@ limitations under the License.
 package kubeadm
 
 import (
+	"bufio"
 	"context"
 	"fmt"
+	"io"
 	"net"
 	"os/exec"
 	"path"
@@ -226,9 +228,17 @@ func (k *Bootstrapper) init(cfg config.ClusterConfig) error {
 	conf := bsutil.KubeadmYamlPath
 	ctx, cancel := context.WithTimeout(context.Background(), initTimeoutMinutes*time.Minute)
 	defer cancel()
+	admInitLogReader, admInitLogWriter := io.Pipe()
 	c := exec.CommandContext(ctx, "/bin/bash", "-c", fmt.Sprintf("%s init --config %s %s --ignore-preflight-errors=%s",
 		bsutil.InvokeKubeadm(cfg.KubernetesConfig.KubernetesVersion), conf, extraFlags, strings.Join(ignore, ",")))
-	if _, err := k.c.RunCmd(c); err != nil {
+	c.Stdout = admInitLogWriter
+	c.Stderr = admInitLogWriter
+	sc, err := k.c.StartCmd(c)
+	if err != nil {
+		return errors.Wrap(err, "start")
+	}
+	go outputAdmInitSteps(admInitLogReader)
+	if _, err := k.c.WaitCmd(sc); err != nil {
 		if ctx.Err() == context.DeadlineExceeded {
 			return ErrInitTimedout
 		}
@@ -236,9 +246,8 @@ func (k *Bootstrapper) init(cfg config.ClusterConfig) error {
 		if strings.Contains(err.Error(), "'kubeadm': Permission denied") {
 			return ErrNoExecLinux
 		}
-		return errors.Wrap(err, "run")
+		return errors.Wrap(err, "wait")
 	}
-
 	if err := k.applyCNI(cfg); err != nil {
 		return errors.Wrap(err, "apply cni")
 	}
@@ -272,6 +281,37 @@ func (k *Bootstrapper) init(cfg config.ClusterConfig) error {
 	return nil
 }
 
+// ouputAdmInitSteps streams the pipe and outputs the current step
+func outputAdmInitSteps(logs io.Reader) {
+	type step struct {
+		logTag       string
+		registerStep register.RegStep
+		stepMessage  string
+	}
+
+	steps := []step{
+		{logTag: "certs", registerStep: register.PreparingKubernetesCerts, stepMessage: "Generating certificates and keys ..."},
+		{logTag: "control-plane", registerStep: register.PreparingKubernetesControlPlane, stepMessage: "Booting up control plane ..."},
+		{logTag: "bootstrap-token", registerStep: register.PreparingKubernetesBootstrapToken, stepMessage: "Configuring RBAC rules ..."},
+	}
+	nextStepIndex := 0
+
+	scanner := bufio.NewScanner(logs)
+	for scanner.Scan() {
+		if nextStepIndex >= len(steps) {
+			scanner.Text()
+			continue
+		}
+		nextStep := steps[nextStepIndex]
+		if !strings.Contains(scanner.Text(), fmt.Sprintf("[%s]", nextStep.logTag)) {
+			continue
+		}
+		register.Reg.SetStep(nextStep.registerStep)
+		out.Step(style.Option, nextStep.stepMessage)
+		nextStepIndex++
+	}
+}
+
 // applyCNI applies CNI to a cluster. Needs to be done every time a VM is powered up.
 func (k *Bootstrapper) applyCNI(cfg config.ClusterConfig) error {
 	cnm, err := cni.New(cfg)
diff --git a/pkg/minikube/command/command_runner.go b/pkg/minikube/command/command_runner.go
index 7de15d0d5fae..88c66c2680eb 100644
--- a/pkg/minikube/command/command_runner.go
+++ b/pkg/minikube/command/command_runner.go
@@ -51,12 +51,26 @@ type RunResult struct {
 	Args     []string // the args that was passed to Runner
 }
 
+// StartedCmd holds the contents of a started command
+type StartedCmd struct {
+	cmd *exec.Cmd
+	rr  *RunResult
+}
+
 // Runner represents an interface to run commands.
 type Runner interface {
 	// RunCmd runs a cmd of exec.Cmd type. allowing user to set cmd.Stdin, cmd.Stdout,...
 	// not all implementors are guaranteed to handle all the properties of cmd.
 	RunCmd(cmd *exec.Cmd) (*RunResult, error)
 
+	// StartCmd starts a cmd of exec.Cmd type.
+	// This func in non-blocking, use WaitCmd to block until complete.
+	// Not all implementors are guaranteed to handle all the properties of cmd.
+	StartCmd(cmd *exec.Cmd) (*StartedCmd, error)
+
+	// WaitCmd will prevent further execution until the started command has completed.
+	WaitCmd(startedCmd *StartedCmd) (*RunResult, error)
+
 	// Copy is a convenience method that runs a command to copy a file
 	Copy(assets.CopyableFile) error
 
diff --git a/pkg/minikube/command/exec_runner.go b/pkg/minikube/command/exec_runner.go
index 6e5caf5708a2..58a1e26a7062 100644
--- a/pkg/minikube/command/exec_runner.go
+++ b/pkg/minikube/command/exec_runner.go
@@ -86,6 +86,53 @@ func (*execRunner) RunCmd(cmd *exec.Cmd) (*RunResult, error) {
 	return rr, fmt.Errorf("%s: %v\nstdout:\n%s\nstderr:\n%s", rr.Command(), err, rr.Stdout.String(), rr.Stderr.String())
 }
 
+// StartCmd implements the Command Runner interface to start a exec.Cmd object
+func (*execRunner) StartCmd(cmd *exec.Cmd) (*StartedCmd, error) {
+	rr := &RunResult{Args: cmd.Args}
+	sc := &StartedCmd{cmd: cmd, rr: rr}
+	klog.Infof("Start: %v", rr.Command())
+
+	var outb, errb io.Writer
+	if cmd.Stdout == nil {
+		var so bytes.Buffer
+		outb = io.MultiWriter(&so, &rr.Stdout)
+	} else {
+		outb = io.MultiWriter(cmd.Stdout, &rr.Stdout)
+	}
+
+	if cmd.Stderr == nil {
+		var se bytes.Buffer
+		errb = io.MultiWriter(&se, &rr.Stderr)
+	} else {
+		errb = io.MultiWriter(cmd.Stderr, &rr.Stderr)
+	}
+
+	cmd.Stdout = outb
+	cmd.Stderr = errb
+
+	if err := cmd.Start(); err != nil {
+		return sc, errors.Wrap(err, "start")
+	}
+
+	return sc, nil
+}
+
+// WaitCmd implements the Command Runner interface to wait until a started exec.Cmd object finishes
+func (*execRunner) WaitCmd(sc *StartedCmd) (*RunResult, error) {
+	rr := sc.rr
+
+	err := sc.cmd.Wait()
+	if exitError, ok := err.(*exec.ExitError); ok {
+		rr.ExitCode = exitError.ExitCode()
+	}
+
+	if err == nil {
+		return rr, nil
+	}
+
+	return rr, fmt.Errorf("%s: %v\nstdout:\n%s\nstderr:\n%s", rr.Command(), err, rr.Stdout.String(), rr.Stderr.String())
+}
+
 // Copy copies a file and its permissions
 func (e *execRunner) Copy(f assets.CopyableFile) error {
 	dst := path.Join(f.GetTargetDir(), f.GetTargetName())
diff --git a/pkg/minikube/command/fake_runner.go b/pkg/minikube/command/fake_runner.go
index e1b8f8615004..b663ff7a38fe 100644
--- a/pkg/minikube/command/fake_runner.go
+++ b/pkg/minikube/command/fake_runner.go
@@ -90,6 +90,47 @@ func (f *FakeCommandRunner) RunCmd(cmd *exec.Cmd) (*RunResult, error) {
 	return rr, nil
 }
 
+// StartCmd implements the Command Runner interface to start a exec.Cmd object
+func (f *FakeCommandRunner) StartCmd(cmd *exec.Cmd) (*StartedCmd, error) {
+	rr := &RunResult{Args: cmd.Args}
+	sc := &StartedCmd{cmd: cmd, rr: rr}
+	klog.Infof("(FakeCommandRunner) Start:  %v", rr.Command())
+
+	key := rr.Command()
+	out, ok := f.cmdMap.Load(key)
+	if !ok {
+		cmds := f.commands()
+		if len(cmds) == 0 {
+			return sc, fmt.Errorf("asked to execute %s, but FakeCommandRunner has no commands stored", rr.Command())
+		}
+
+		var txt strings.Builder
+		for _, c := range f.commands() {
+			txt.WriteString(fmt.Sprintf("  `%s`\n", c))
+		}
+		return sc, fmt.Errorf("unregistered command:\n  `%s`\nexpected one of:\n%s", key, txt.String())
+	}
+
+	var buf bytes.Buffer
+	outStr := ""
+	if out != nil {
+		outStr = out.(string)
+	}
+	_, err := buf.WriteString(outStr)
+	if err != nil {
+		return sc, errors.Wrap(err, "Writing outStr to FakeCommandRunner's buffer")
+	}
+	rr.Stdout = buf
+	rr.Stderr = buf
+
+	return sc, nil
+}
+
+// WaitCmd implements the Command Runner interface to wait until a started exec.Cmd object finishes
+func (f *FakeCommandRunner) WaitCmd(sc *StartedCmd) (*RunResult, error) {
+	return sc.rr, nil
+}
+
 // Copy adds the filename, file contents key value pair to the stored map.
 func (f *FakeCommandRunner) Copy(file assets.CopyableFile) error {
 	var b bytes.Buffer
diff --git a/pkg/minikube/command/kic_runner.go b/pkg/minikube/command/kic_runner.go
index 5cc78687bc6e..ae14308a22cb 100644
--- a/pkg/minikube/command/kic_runner.go
+++ b/pkg/minikube/command/kic_runner.go
@@ -131,6 +131,14 @@ func (k *kicRunner) RunCmd(cmd *exec.Cmd) (*RunResult, error) {
 
 }
 
+func (k *kicRunner) StartCmd(cmd *exec.Cmd) (*StartedCmd, error) {
+	return nil, fmt.Errorf("kicRunner does not support StartCmd - you could be the first to add it")
+}
+
+func (k *kicRunner) WaitCmd(sc *StartedCmd) (*RunResult, error) {
+	return nil, fmt.Errorf("kicRunner does not support WaitCmd - you could be the first to add it")
+}
+
 // Copy copies a file and its permissions
 func (k *kicRunner) Copy(f assets.CopyableFile) error {
 	dst := path.Join(path.Join(f.GetTargetDir(), f.GetTargetName()))
diff --git a/pkg/minikube/command/ssh_runner.go b/pkg/minikube/command/ssh_runner.go
index 8dc2c15c8e58..e2e6bc389e59 100644
--- a/pkg/minikube/command/ssh_runner.go
+++ b/pkg/minikube/command/ssh_runner.go
@@ -46,6 +46,7 @@ var (
 type SSHRunner struct {
 	d drivers.Driver
 	c *ssh.Client
+	s *ssh.Session
 }
 
 // NewSSHRunner returns a new SSHRunner that will run commands
@@ -194,6 +195,100 @@ func (s *SSHRunner) RunCmd(cmd *exec.Cmd) (*RunResult, error) {
 	return rr, fmt.Errorf("%s: %v\nstdout:\n%s\nstderr:\n%s", rr.Command(), err, rr.Stdout.String(), rr.Stderr.String())
 }
 
+// teeSSHStart starts a non-blocking SSH command, streaming stdout, stderr to logs
+func teeSSHStart(s *ssh.Session, cmd string, outB io.Writer, errB io.Writer) error {
+	outPipe, err := s.StdoutPipe()
+	if err != nil {
+		return errors.Wrap(err, "stdout")
+	}
+
+	errPipe, err := s.StderrPipe()
+	if err != nil {
+		return errors.Wrap(err, "stderr")
+	}
+
+	go func() {
+		if err := teePrefix(ErrPrefix, errPipe, errB, klog.V(8).Infof); err != nil {
+			klog.Errorf("tee stderr: %v", err)
+		}
+	}()
+	go func() {
+		if err := teePrefix(OutPrefix, outPipe, outB, klog.V(8).Infof); err != nil {
+			klog.Errorf("tee stdout: %v", err)
+		}
+	}()
+
+	return s.Start(cmd)
+}
+
+// StartCmd implements the Command Runner interface to start a exec.Cmd object
+func (s *SSHRunner) StartCmd(cmd *exec.Cmd) (*StartedCmd, error) {
+	if cmd.Stdin != nil {
+		return nil, fmt.Errorf("SSHRunner does not support stdin - you could be the first to add it")
+	}
+
+	if s.s != nil {
+		return nil, fmt.Errorf("another SSH command has been started and is currently running")
+	}
+
+	rr := &RunResult{Args: cmd.Args}
+	sc := &StartedCmd{cmd: cmd, rr: rr}
+	klog.Infof("Start: %v", rr.Command())
+
+	var outb, errb io.Writer
+
+	if cmd.Stdout == nil {
+		var so bytes.Buffer
+		outb = io.MultiWriter(&so, &rr.Stdout)
+	} else {
+		outb = io.MultiWriter(cmd.Stdout, &rr.Stdout)
+	}
+
+	if cmd.Stderr == nil {
+		var se bytes.Buffer
+		errb = io.MultiWriter(&se, &rr.Stderr)
+	} else {
+		errb = io.MultiWriter(cmd.Stderr, &rr.Stderr)
+	}
+
+	sess, err := s.session()
+	if err != nil {
+		return sc, errors.Wrap(err, "NewSession")
+	}
+
+	s.s = sess
+
+	err = teeSSHStart(s.s, shellquote.Join(cmd.Args...), outb, errb)
+
+	return sc, err
+}
+
+// WaitCmd implements the Command Runner interface to wait until a started exec.Cmd object finishes
+func (s *SSHRunner) WaitCmd(sc *StartedCmd) (*RunResult, error) {
+	if s.s == nil {
+		return nil, fmt.Errorf("there is no SSH command started")
+	}
+
+	rr := sc.rr
+
+	err := s.s.Wait()
+	if exitError, ok := err.(*exec.ExitError); ok {
+		rr.ExitCode = exitError.ExitCode()
+	}
+
+	if err := s.s.Close(); err != io.EOF {
+		klog.Errorf("session close: %v", err)
+	}
+
+	s.s = nil
+
+	if err == nil {
+		return rr, nil
+	}
+
+	return rr, fmt.Errorf("%s: %v\nstdout:\n%s\nstderr:\n%s", rr.Command(), err, rr.Stdout.String(), rr.Stderr.String())
+}
+
 // Copy copies a file to the remote over SSH.
 func (s *SSHRunner) Copy(f assets.CopyableFile) error {
 	dst := path.Join(path.Join(f.GetTargetDir(), f.GetTargetName()))
diff --git a/pkg/minikube/cruntime/cruntime.go b/pkg/minikube/cruntime/cruntime.go
index 332dc1be4c78..5a939c2f1a79 100644
--- a/pkg/minikube/cruntime/cruntime.go
+++ b/pkg/minikube/cruntime/cruntime.go
@@ -54,7 +54,15 @@ func ValidRuntimes() []string {
 
 // CommandRunner is the subset of command.Runner this package consumes
 type CommandRunner interface {
+	// RunCmd is a blocking method that runs a command
+	// Use this if you don't need to stream stdout and stderr in real-time
 	RunCmd(cmd *exec.Cmd) (*command.RunResult, error)
+	// StartCmd is a non-blocking method that starts a command
+	// Use WaitCmd to block until the command is complete
+	// Use this if you need to stream stdout and/or stderr in real-time
+	StartCmd(cmd *exec.Cmd) (*command.StartedCmd, error)
+	// WaitCmd blocks until the started command completes
+	WaitCmd(sc *command.StartedCmd) (*command.RunResult, error)
 	// Copy is a convenience method that runs a command to copy a file
 	Copy(assets.CopyableFile) error
 	// Remove is a convenience method that runs a command to remove a file
diff --git a/pkg/minikube/cruntime/cruntime_test.go b/pkg/minikube/cruntime/cruntime_test.go
index 3bd39bac7834..11acd37c1330 100644
--- a/pkg/minikube/cruntime/cruntime_test.go
+++ b/pkg/minikube/cruntime/cruntime_test.go
@@ -217,6 +217,14 @@ func (f *FakeRunner) RunCmd(cmd *exec.Cmd) (*command.RunResult, error) {
 	}
 }
 
+func (f *FakeRunner) StartCmd(cmd *exec.Cmd) (*command.StartedCmd, error) {
+	return &command.StartedCmd{}, nil
+}
+
+func (f *FakeRunner) WaitCmd(sc *command.StartedCmd) (*command.RunResult, error) {
+	return &command.RunResult{}, nil
+}
+
 func (f *FakeRunner) Copy(assets.CopyableFile) error {
 	return nil
 }
diff --git a/pkg/minikube/out/register/register.go b/pkg/minikube/out/register/register.go
index 985d81463da2..ebb6c13a4cd7 100644
--- a/pkg/minikube/out/register/register.go
+++ b/pkg/minikube/out/register/register.go
@@ -26,20 +26,23 @@ import (
 
 // If you add a new step here, please also add it to register.Reg registry inside the init() function
 const (
-	InitialSetup         RegStep = "Initial Minikube Setup"
-	SelectingDriver      RegStep = "Selecting Driver"
-	DownloadingArtifacts RegStep = "Downloading Artifacts"
-	StartingNode         RegStep = "Starting Node"
-	PullingBaseImage     RegStep = "Pulling Base Image"
-	RunningLocalhost     RegStep = "Running on Localhost"
-	LocalOSRelease       RegStep = "Local OS Release"
-	CreatingContainer    RegStep = "Creating Container"
-	CreatingVM           RegStep = "Creating VM"
-	ConfiguringLHEnv     RegStep = "Configuring Localhost Environment"
-	PreparingKubernetes  RegStep = "Preparing Kubernetes"
-	VerifyingKubernetes  RegStep = "Verifying Kubernetes"
-	EnablingAddons       RegStep = "Enabling Addons"
-	Done                 RegStep = "Done"
+	InitialSetup                      RegStep = "Initial Minikube Setup"
+	SelectingDriver                   RegStep = "Selecting Driver"
+	DownloadingArtifacts              RegStep = "Downloading Artifacts"
+	StartingNode                      RegStep = "Starting Node"
+	PullingBaseImage                  RegStep = "Pulling Base Image"
+	RunningLocalhost                  RegStep = "Running on Localhost"
+	LocalOSRelease                    RegStep = "Local OS Release"
+	CreatingContainer                 RegStep = "Creating Container"
+	CreatingVM                        RegStep = "Creating VM"
+	ConfiguringLHEnv                  RegStep = "Configuring Localhost Environment"
+	PreparingKubernetes               RegStep = "Preparing Kubernetes"
+	PreparingKubernetesCerts          RegStep = "Generating certificates"
+	PreparingKubernetesControlPlane   RegStep = "Booting control plane"
+	PreparingKubernetesBootstrapToken RegStep = "Configuring RBAC rules"
+	VerifyingKubernetes               RegStep = "Verifying Kubernetes"
+	EnablingAddons                    RegStep = "Enabling Addons"
+	Done                              RegStep = "Done"
 
 	Stopping  RegStep = "Stopping"
 	PowerOff  RegStep = "PowerOff"
@@ -77,6 +80,9 @@ func init() {
 				CreatingContainer,
 				CreatingVM,
 				PreparingKubernetes,
+				PreparingKubernetesCerts,
+				PreparingKubernetesControlPlane,
+				PreparingKubernetesBootstrapToken,
 				ConfiguringLHEnv,
 				VerifyingKubernetes,
 				EnablingAddons,