CRJ-900 Captain reported the landing gear failed during approach requiring emergency extension for a safe landing.

Narrative

On the flight from ZZZ to ZZZ1 we had a landing gear failure. The flight was uneventful until 'gear down; flaps 30deg' was called on the standard ILS to Runway XX into ZZZ1. Upon selection of the landing gear lever to the down position nothing happened. No noise; no click; nothing. After about 5 seconds the 'gear disagree' aural warning the red master warning message appeared. We elected to go around as we still well above 1000 ft. We asked for delay vectors and relayed basics to the Tower. When level and on the autopilot; the First Officer took the controls and radios while we ran the QRC/QRH. Upon direction of the QRH we manually deployed the gear using the emergency gear extension.We discussed it and determined that the indications showed down and locked; the Tower could visually see the gear deployed so we elected to not declare and emergency and proceeded to complete the approach to landing. We let the Tower know that we may not have nose wheel steering and we would do our best to try to exit the runway safely. After a normal touchdown it was clear we did not have steering so we rolled to the widest taxiway and proceeded to exit. We set the parking brake and called for a tug. Knowing it would take a long time for the tug to get to us we called maintenance to see if a system reset would work. Unfortunately it did not and we were at the mercy of the tug. When it came we hooked up and proceeded to the gate without further incident. Most I know is one of the valves failed disabling the gear extension and the nose wheel steering (maintenance confirmed it was not because the emergency extension was pulled).