Stepelton completed 10 of 12 passes for 145 yards and two touchdowns, and Small rushed for two scores on 178 yards for the Dolphins (8-3, 6-1 Pioneer Football League).
Small's 2-yard run in the second quarter was matched by Drake's Stephen Platek, who scored from 12 yards out for Drake (5-5, 3-4) to cut the lead to 14-9.
After a scoreless third, Jacksonville blew the game open on Small's second 2-yard run and a fumble returned for a touchdown. Stepelton closed out the scoring on a 19-yard connection with Geavon Tribble and a 13-yarder to Small.
Jacksonville outgained Drake 368-251 and overcame three turnovers.