Hand held anti tank weapons were widely used in the Second World War, cheaper to produce than an anti-tank gun they could be moved around a battlefield without the need for mechanised transport. It was a matter of hide, wait until your target was in range and fire. Then hope you've knocked out your tank and it can't fire back. This scene from Band of Brothers from about 4.56 shows how they 101st knocked out a Panzer with a nice shot to the soft underbelly.
The PIAT (Projectile Infantry Anti Tank)had an advantage over the bazooka in that it left no smoke trail. It was basically a tube with a steel spring inside and it was used widely by the British army until 1951. Not the best of weapons according to the video below.
The German panzerfaust was based on the U.S bazooka. I can't seem to find a reliable source online, but according to good old wikipedia, Nazi Germany made over 6 million of them, and they were used by all Axis powers.