Julianna,
In the group Asclepiads, which Stapeliads are members, I have these Huernia plants. They are smaller growing and thier flowers are not much bigger than a quarter. They almost look like tiny Cholla Cactus but very soft to the toutch.
Below is the first blooms I ever got from one.
I have about 4 different ones now. Only two big enouht to cut stems from. And my Stapelia flavoristris bloomed also for the first time.
The other one is a Stapelia Gigantea that hasn't bloomed in awhile. It has the large yellow starfish flowers. Never did go to seed when they did bloom for me. Unknow why.
Stush