If we were taking off from the moon, ya, we absolutely could do that. Only thing that matters there is the weight to fuel ratio, pick whatever shape you want.
Except on earth we have a lot of atmosphere to get through, so in the name of practicality and efficiency, it has to be aerodynamic. A rocket, an air plane, a bullet. You basically need a cylindrical objected with a cone tip if you want minimal drag.
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