The Orion was designed to travel at 10% of the speed of light. There were also plans to launch an Orion as an upper stage of the Apollo. The vehicle could travel to Mars in about 7 hours. A human being probably could not handle the acceleration though. It is safe to say that we have the technology to travel to Mars in less than a week.
If an Orion was placed in the upper stages of Apollo, then America has fielded a deep space battle cruiser. The other viable option would be to use the Black Space Shuttle from Area-51 and assemble the Orion in orbit. This would take a number of missions.
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