This simple papercraft is a SD Shuttle, a small, short range spacecraft carried by larger vessels, based on space western drama television series Firefly, the paper toy created by Inkjet Paper Scissors. The shuttles are used when landing the carrier spacecraft is impractical. The life-support and interiors are designed to handle four passengers and they have the ability to break atmo from a wide orbit.
An Endo/Exo-Atmospheric Shuttle is one designed to function well both in an atmosphere and in space. Serenity carries two such shuttles, one of which was indefinitely rented out to Inara Serra.
You can download this papercraft toy here: Firefly / Serenity - SD Shuttle Free Papercraft Download