VR-BESO is a novel interactive structural design tool based on virtual reality (VR). This tool integrates VR sculpting and topology optimisation techniques to generate innovative, lightweight, and efficient 3D structural designs. VR-BESO allows designers to immersively and intuitively observe and interact with 3D models. By alternatively using VR sculpting and executing topology optimisation, a human–computer collaboration is established to improve the efficiency of design exploration and the quality of optimised structures.