I'm not sure about the US, but USSR developed one, the Energia II. It was AFAIK never built, it shared the destiny of the rest of the Energia/Buran programme, but they were certainly able and did try. I can't find any references ATM, but I'm pretty sure the US also had plans for a fully reusable Shuttle complex, before the whole thing got ridiculous in planning stages.

EDIT: And what's with the fixation on reusable rockets? It might lower some cost but it's hardly an amazing feat of science and engineering.