Steel-fiber reinforced polymer (FRP) composite bars (SFCBs) can enhance the controllability of damage in concrete structures; thus, studying the interfacial bonding between them is fundamental and a prerequisite for achieving deformation coordination and collaboration. However, research on the interfacial bonding performance between SFCBs and concrete remains inadequate. This study conducted central pullout tests on SFCB-concrete specimens with different concrete strengths (C30, C50, and C70), bar diameters (12, 16 and 20 mm), and hoop reinforcement constraints, analyzing variations in failure modes, bond-slip curves, bond strength, etc. Additionally, finite element simulations were performed using ABAQUS software to further validate the bonding mechanism of SFCB-concrete. The results showed that the failure mode of the specimens was related to the confinement effect on the bars. Insufficient concrete cover and lack of hoop restraint led to splitting failure, whereas pullout failure occurred otherwise. For the specimens with pullout failure, the interfacial damage between the SFCB and concrete was mainly caused by the surface fibers wear of the bar and the shear of the concrete lugs, which indicated that the bond of the SFCB-concrete interface consisted mainly of mechanical interlocking forces. In addition, the variation of concrete strength as well as bar diameter did not affect the bond-slip relationship of SFCB-concrete. However, the bond strength of SFCB-concrete increased with the increase of concrete strength. For example, compared with C30 concrete, when the concrete strength was increased to C70, the bond strength of the specimens under the same conditions was increased to 50–101.6%. In contrast, the bond strength of the specimens decreased by 13.29–28.71% when the bar diameter was increased from 12 to 14 mm. These discoveries serve as valuable references for the implementation of sustainable SFCB-reinforced concrete structures.