Precise control of friction and wear is very important for energy efficiency and sustainability in manufacturing processes. In this research, different kinds of surface textures have been created on steel surfaces to vary the frictional conditions at the interface. The surface textures were varied from unidirectional pattern to criss-cross pattern by rubbing the steel surfaces under dry conditions against different grits of emery papers for various numbers of cycles. The sliding experiments were conducted at a velocity of 2 mm/s using an inclined pin-on-plate apparatus with Al–Mg alloy pins against steel plate surfaces of different textures with roughness under dry and lubricated conditions at ambient conditions. Results showed that the coefficient of friction (COF) and transfer layer formation on the plate surfaces were controlled by the surface textures of the steel materials under both dry and lubricated conditions. Analyzing the surfaces in terms of various roughness parameters, it was found that the asperity angle of the steel surface played a key role in controlling the COF and transfer layer during sliding. The friction and wear performance can be accurately controlled by creating appropriate surface textures and understanding their surface roughness parameters in order to enhance energy efficiency and the quality of finished products in manufacturing processes.