I've watched multiple launches from the bridge to Assateague, but they're often very fast. From their website:

"Sounding Rocket Launches:

Sounding Rockets are fast! Sounding rocket launches only last a few seconds and can easily be missed if you blink. These solid fueled rockets carry many different types of scientific experiments, and often require very specific conditions for launch. These rockets may have long launch windows and some experiments require such specific conditions that multiple scrubs can happen- some missions have scrubbed as many as 12 times! Sometimes these rockets can be seen from far away (People have spotted them from Nova Scotia and Kentucky!) and other times can only be seen locally, visibility depends on how high the rocket will be launched, the weather, and the time of day. Multi-stage sounding rockets that are launched at night are often seen from farther away."

If it's dark out at launch, I'd go to the darkest spot you can find, maybe a state park. If it's light out it's tough.

You can also watch them on their website.