Probably if you get some metal polish like "Never-Dull", (cotton in a can), Brasso, Semichrome, etc. from an auto supply or hardware store, you can polish the stain off.
You *could* try scrubbing it with Bon-Ami and a brush or (ScotchBrite type) scrub pad, if you have that handy.
Avoid anything like steel wool, that probably will scratch it.
Your faucet is probably chrome-plated brass, not steel - does a magnet stick to it?