Stappenbach was first mentioned in a document in 1317 as Stackenbach. The term comes from Starkloff or Starkolf, abbreviated stacco. At that time, Heinrich Zeirner sold the Ebracher Abbot Eberhard an estate in Abtsdorf and the mill in Stappenbach. Traditionally, Stappenbach celebrates its church consecration on the first weekend in September. The church "Zu den Heiligen Schutzengeln" was built in 1706 and has now existed for over 300 years. This event is celebrated every year on the first weekend in September with the Kerwa. In 1960 Stappenbach had 284 inhabitants. The pre-settlement Fesselsberg (also Fesselsburg, Vesselsburg), mentioned in 1303 as a deserted village, was located on the southern slope of the Scheibenberg and was destroyed by fire. In 1904 Stappenbach received a railroad connection of the railroad line Frensdorf - Ebrach. Passenger traffic was already discontinued in 1961, freight traffic ended in 1999. In the meantime, the line has been converted into a bicycle trail.