It really depends on the tower height and wind load.
There was a company that sold a tower mount called a "wonder pole "
https://www.qrz.com/db/VE3PKScroll down to see the tower and mount.
These required no concrete but did require certain soil conditions and certain install methods.
The pole had wings on it that helped stabilize the thing in the ground and when the tower was up it had to be guyed.
Installation required slowly filling and tamping the back fill and then filling the hole with water and allowing the water to naturally drain.
This was done in 1 or 2 foot intervals to allow the back fill to settle around the pole.
I believe the tower cranked up to 40ish feet. But I would need to measure mine to know for sure. I have one but haven't put it up yet. Another project for sometime before I end up in the ground myself.
The issue becomes accessing the TOP of the tower once it's up. A tower mounted on a pole like this is NOT something you should climb. As seen in the pictures above, the mount allowed the tower to fold over and be serviced. You need to consider that a REQUIREMENT for a setup like you are talking about.
Another option, and again it's gonna depend on the application, would be the old school flag pole mast. This is where you put TWO pieces of pipe going into the ground and a single piece of pipe going UP between them on a hinge pin at the top. I have seen this done effectively to about 50 feet. Obviously the pipe need to get smaller at the top. But if you are putting up a small to medium vertical or a wire antenna (one guy opposite the wire direction should be used and use TWO guys if it's a corner of a long wire or beverage loop) this is also a 'cheap' method of getting something up in the air and allow you to get an effective signal going.
BOTH of these are going to require welding skills. Specifically with pipe welding. and DO NOT thing you can thread the pipes together. NEVER rely on threaded connectors as structural connections. Threading pipe cuts the wall thickness by over 70% on a schedule 40 pipe. IT WILL FAIL. Pipe should be purchased that slides into the section below it. Slide them together and weld the joint and drill holes in the outer pipe and plug weld them 1 foot below the slip joint. Failure to do this right will cause it to all fall down.