Fast forward time until Moho is at -252 degrees to Kerbin. Put Kerbin to the middle right of your orbit map while looking down on the orbit paths, then launch your ship eastward, and while in orbit; prograde burn from the 10 o'clock position in your Kerbin orbit until your speed is approximately 3940 m/s.

Fast forward time until Eve is at -54 degrees to Kerbin. Put Kerbin to the middle right of your orbit map while looking down on the orbit paths, then launch your ship eastward, and while in orbit; prograde burn from the 11 o'clock position in your Kerbin orbit until your speed is approximately 3250 m/s.

• Gilly

Put Mün to the top of the screen while looking down on the orbit paths. Launch your ship eastward, and when you're at the middle right of the screen with Mün at the top, prograde burn from orbit until your speed is approximately 3060 m/s.

Put Minmus to the top of the screen while looking down on the orbit paths. Launch your ship eastward, and when you're at the 4 o'clock position(or when you see Minmus on the horizon) prograde burn from orbit until your speed is approximately 3200 m/s. Make sure to match the orbital inclination for Minmus by checking the degrees on your ascending/descending nodes, and correcting via burning towards your normal or anti-normal navball points if necessary.

Fast forward time until Duna is at 44 degrees to Kerbin. Put Kerbin to the middle right of your orbit map while looking down on the orbit paths, then launch your ship eastward, and while in orbit; prograde burn from the 5 o'clock position in your Kerbin orbit until your speed is approximately 3290 m/s.

• Ike

Fast forward time until Dres is at 82 degrees to Kerbin. Put Kerbin to the middle right of your orbit map while looking down on the orbit paths, then launch your ship eastward, and while in orbit; prograde burn from the 4 o'clock position in your Kerbin orbit until your speed is approximately 3780 m/s.

Fast forward time until Jool is at 97 degrees to Kerbin. Put Kerbin to the middle right of your orbit map while looking down on the orbit paths, then launch your ship eastward, and while in orbit; prograde burn from the 4 o'clock position in your Kerbin orbit until your speed is approximately 4150 m/s.

• Laythe
  
• Vall
  
• Tylo
  
• Bop
  
• Pol

Fast forward time until Eeloo is at 101 degrees to Kerbin. Put Kerbin to the middle right of your orbit map while looking down on the orbit paths, then launch your ship eastward, and while in orbit; prograde burn from the 4 o'clock position in your Kerbin orbit until your speed is approximately 4315 m/s.

For more accurate information, or to plot a course back to Kerbin from these places, Google "Interactive illustrated interplanetary guide and calculator for KSP" and try the orbital insertion calculator.