To use GRBL
1) Adafruit carries Arduino prototyping shields. Mount a 26pin IDC connector on the shield and wire it to the Arduino pins. Then make a ribbon cable 26 IDC to 25 pin DB (parallel port) connector. You will need a breakout board with the driver boards as pictured on Amazon.

2) or using the prototype board wire 3, 4 pin connectors (one for each ST330) to the Arduino pins. Now wire shield directly to the driver boards. You will also need a connector on the shield to attach the limit switches.

The GRBL shield you found has the stepper driver chips on the shield. These driver can work with a NEMA 17 but probably will have problems with a 23. Too much current needed.

The Amazon link contains the ST330 as a four axis package. Go to the SainSmart marketplace and scan the products and you will find the ST330 as single units.

Look, unless you only have USB available, drop the GRBL route and go with LinuxCNC and a mult axis board, such as ST330 set on Amazon or the HobbyCNC. Going with GRBL means you will need to build a shield.

1) LinuxCNC: CAD( the drawing) => CADCAM( creating g-code) => LinuxCNC(interpreting g-code) => CNC Router.

2) grbl:CAD( the drawing) => CADCAM( creating g-code) => g-code streamer software => grbl(interpreting g-code) => CNC Router.

See here ShapeOko Build | zapmaker for streamer software.