The K-level Sigma-Delta (/spl Sigma//spl Delta/) scheme with step size /spl delta/ is introduced as a technique for quantizing finite frame expansions for /spl Ropf//sup d/. Error estimates for various quantized frame expansions are derived, and, in particular, it is shown that /spl Sigma//spl Delta/ quantization of a unit-norm finite frame expansion in /spl Ropf//sup d/ achieves approximation error where N is the frame size, and the frame variation /spl sigma/(F,p) is a quantity which reflects the dependence of the /spl Sigma//spl Delta/ scheme on the frame. Here /spl par//spl middot//spl par/ is the d-dimensional Euclidean 2-norm. Lower bounds and refined upper bounds are derived for certain specific cases. As a direct consequence of these error bounds one is able to bound the mean squared error (MSE) by an order of 1/N/sup 2/. When dealing with sufficiently redundant frame expansions, this represents a significant improvement over classical pulse-code modulation (PCM) quantization, which only has MSE of order 1/N under certain nonrigorous statistical assumptions. /spl Sigma//spl Delta/ also achieves the optimal MSE order for PCM with consistent reconstruction.