For every kilogram of petrol or diesel burned in an internal combustion engine there is approximately one kilogram of water produced in the form of steam.
For every kilogram of hydrogen burned there would be 9 kilograms of steam produced.
Providing there are no cold spots in the exhaust system, the water would exit as steam or vapour. Of course for the first few minutes of running from cold, water would condense in the exhaust system; but it does this with a petrol or diesel engine anyway.