A few years back, I worked with HMX on a NASA contract proposal for something called "Alternate Access to Space." The idea was to develop a method of bringing supplies to the ISS when other methods were not available. Such a system would be equipped to dock with the ISS, and could be launched to the ISS on short notice.

We designed a capsule with the required docking system. Exceeding the design requirements, we made it re-entry capable and reusable (not that hard with a simple space capsule. We used parachutes and landed like the old Gemini runway landing version.) For launch, we proposed using some of the many surplus working Titan II rockets in storage in the desert.

The idea was to deploy the system rapidly. Under the original work statement, the first launch would have been in 2003.

And yes, although it was not a part of the requirement, the way we designed it, it could have carried people.

We were selected out in a later phase of the program, and eventually AAS withered in the face of the Orbital Space Plane concepts.