Rutan's group is clearly the front-runner, but I've been keeping an eye on Armadillo as well.
www.armadilloaerospace.com John Carmack was one of the founders of ID Software, now he and his team are building a VTOL hydrogen peroxide rocket. They had a manned flight on their test platform last year but recently switched from a differential engine configuration to single engine with jet vanes. He posts detailed updates every Monday with photos and video.