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The native Activity app on the watch does that.
 

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From the main view with the three rings, swipe up from the bottom of the screen to show the screen shot above.
 
Ah ha! How do I view previous days? Also, can I make a steps goal rather than just "stand", "exercise", or "calories"?
 
You need to go to the Activity app on the phone to see prior days.

I have not seen a way to set a steps goal. I think Apple's three activity categories are set. Additionally, I do not think there is a way to change the daily goals for exercise and stand.
 
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