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We consider superimposing pilot signals onto data signals for channel estimation in multiple-input multiple-output (MIMO)-orthogonal frequency division multiplexing (OFDM) systems. This paper presents a channel estimation method, which is based on orthogonal pilot-constant amplitude zero autocorrelation code (CAZAC) for space-time block code (STBC) OFDM system. In this system, the proposed method has low-complexity and CAZAC codes have the minimum peak-to-average power ratio (PAPR). At the same time, the superimposed pilot approach can increase bandwidth efficiency and data rate compared with other classical approaches, where pilot signals and data signals are disjoined, at nearly the same system performance by the computer simulation.