Virtual Reality (VR) can support effective and scalable training for procedures presented as step-by-step processes in machinery use, such as in an engineering room. Currently, many procedures are trained in closed experiences that do not allow for human errors or interaction with real subjects or machinery. Our goal is to address this gap by using VR training tools for guided procedural learning. To achieve this, we applied an existing methodology for designing such systems, called ProtoColVR, to develop a VR training simulation prototype for emergency procedures within an engineering room on a ship. The simulator, called OPVSim, employs end-to-end instruction, including a VR controls tutorial, step-by-step guided training based on graphs, offering different paths to the same goal, with feedback on correct and incorrect actions. We conducted a study with two groups of participants-cadets in training and experienced officers-to assess the effectiveness of the system developed using the described methodology. The study results reveal positive trends, including increased knowledge scores after using the simulator, and favorable outcomes for the prototype in terms of usability, presence, and workload. We discuss our findings, limitations, and the implications for designing VR training systems for guided procedural learning.