Bottom-up approaches to the synthesis of nanostructures are of particular interest because they offer several advantages over the traditional top-down approaches. In this work, we present a new method to self-assemble nanoparticles into controlled heteroaggregates. The technique relies on carefully balancing attractive electrostatic forces with repulsive steric hindrance that is provided by surface-grafted polyethylene glycol (PEG). Two different-sized gold nanoparticles (GNPs) were used as a model system: 13 nm GNPs were functionalized with PEG-thiol and mercapto dodecanoic acid, while 7 nm GNPs were functionalized with PEG-thiol and (11- Mercaptoundecyl)-trimethylammonium bromide. When mixed together, these oppositely charged particles self-assemble into stable colloidal structures (i.e., nanoclusters) whose structure depends strongly on the surface concentration of PEG. Smaller structures are obtained as the PEG surface concentration increases because steric hindrance dominates and prevents uncontrolled aggregation. In particular, under the right conditions, we were able to selectively synthesize heterodimers (which are effectively Janus particles) and linear heteroassemblies. This method is scalable, and it provides a step forward in bottom-up synthesis of nanomaterials.