It's risky, and I've only almost done it once, but you can have Kerbals hanging onto the ladders and try getting them back that way. I managed to take off with one kerbal hanging on (one fell off... sorry, Richfrey!), make it back to Kerbin through a series of "Release from ladder, time warp until they drift almost too far away, return to ship and refuel jetpacks", and reenter the atmosphere. The atmospheric flight was the hardest part, but at one point, he fell down onto an exterior fuel tank and was held in place through acceleration. If deploying the parachutes hadn't torn the ship apart (it was an experimental design), I think he would've made it safely to the ground.