We introduce a custom-built stress-controlled shear cell coupled to a confocal microscope for direct visualization of constant-stress shear deformation in soft materials. The torque generator is a cylindrical Taylor-Couette system with a Newtonian fluid between a rotating inner bob and a free-to-move outer cup. A spindle/cone assembly is coaxially coupled to the cup and transfers the torque exerted by the fluid to the sample of interest in a cone-and-plate geometry. We demonstrate the performance of our device in both steady-state and transient experiments with different viscoelastic materials. Our apparatus can conduct unidirectional constant-stress experiments as accurately as most commercial rheometers, with the capability to directly visualize the flow field using tracer particles. Further, our step-stress experiments on viscoelastic materials are devoid of creep ringing, which is an advantageous aspect of our torque generation mechanism. We believe that the device presented here could serve as a powerful and cost-effective tool to investigate the microstructural determinants of nonlinear rheology in complex fluids.