Besiege Rocket VTOL Flying Machine with Reaction Control Wheels
This Besiege creation uses reaction control wheels for pitch, yaw, and roll, and rockets for thrust. The outer rockets can rotate to aim back for more forward thrust.
The machine is difficult to control, which you can see in the video, but does work well enough. I don't have a lot of practice controlling it yet. It uses the RocketMod for rocket thrust and the Keep Camera Rotation Mod so the camera follows the vehicle.
Download the bsg file here (use right-click, save as) and place it into the SavedMachines folder in your Steam installation. Example path:
If you can't find the SavedMachines folder, make sure you have at least played the game and saved a machine (to make sure the folder is created), and then do a search for that folder name.