If you just want the fastest route, you can follow this:https://www.trippy.com/drive/Virginia-Beach-to-Denver-in-5-days
But I'm thinking if you have 5 days, maybe try to come up to Chicago
if you haven't been here. Only makes sense if you like big cities, but there would be tons to do in the summer - festivals, outdoor eating, tons of sightseeing. Then go across I-80 instead of I-70.
Or if you're into music, try a more Southern route through Nashville
If you don't want to stray too far from the fastest route, maybe take a short detour to the Lake of the Ozarks