This wiki article discusses one of the possible replacements for the space-shuttle, the Ares I rocket. But as the article notes, the projected cost per launch (that is, AFTER the research & development costs) could be around $1 billion -- versus about $150 million to get three US astronauts into orbit on a Russian Soyuz rocket!
I'm not exactly sure why NASA chose not to go back to the proven technology of the Saturn V rockets after the retirement of the Space Shuttle -- I suspect there's a complex mix of technical, budgetary, and stupid-politics reasons.