Depending on altitude, liquid fuel rocket motor may or may not produce a trail. As mentioned, the 163B's engine produced a kind of steam trail. At lower altitudes (and thus higher atmospheric densities) the steam trail may not be very visable at all, or be very short lived. At higher (15k-30k) altitudes these things would leave just as much of a vapor trail as the supercharged B-17's SHOULD be leaving.
Little factiod here: The STS (Space shuttle) main engines, which are LOx-LH2 fueled, leave no visable trail until around 20k ASL. The smoke you see until that point is entirely from the SRB's.