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Sampling a random walk is a fundamental primitive in many graph applications. In the streaming model, it is known that sampling an L-step random walk on an n-vertex directed graph requires Ω(nL) space, implying that no sublinear-space streaming algorithm exists for general graphs. We show that sublinear algorithms are possible for the case of dense graphs, where every vertex has out-degree at least Ω(n). In particular, we give a one-pass turnstile streaming algorithm that uses only Õ(L) memory for such graphs. More broadly, for graphs with minimum out-degree at least d, our streaming algorithm samples a random walk using Õ(n/d · L) memory. We show that our algorithm is optimal in a strong “beyond worst-case” sense. To formalize this, we introduce the notion of universal optimality for graph streaming algorithms. Informally, a streaming algorithm is universally optimal if it performs (almost) as well as possible on every graph, assuming a worst-case choice of the streaming order. This notion of universal optimality is a key conceptual contribution of our work.