With only stock parts (no docking), but with a fuel transfer mod, my mission profile would look something like this: 1) Launch a tanker ship into standard 300km orbit around Kerbin. 2) Launch two tanker ships into orbit around target planet, one in high orbit (#2), one in low orbit (#3) 3) Launch interplanetary crew vehicle (ICV) into 300km rendezvous orbit with tanker 1 4) ICV refuels from tanker #1 5) Hohmann transfer orbit from Kerbin to target planet 6) ICV enters high orbit around target planet 7) ICV refuels with Tanker #2 8) ICV decent burn and landing (utilize parachutes on atmospheric planets to reduce fuel usage) 9) ICV crew performs EVA on surface 10) ICV launches from the surface (multistage to orbit launch profile for high gravity/atmosphere planets, single stage to orbit for low gravity planets/moons) 11) ICV refuels with tanker #3 in low orbit 12) Escape burn and Hohmann transfer to Kerbin 13) Maneuver for Kerbin re-entry, parachute decent