How to do Rigidbody-based wall jump?

I would like to do a wall jump (where character can jump back and forth between walls, climbing higher each time, until he reaches the top of one wall) for a 3D Unity game.

Unfortunately, all of the tutorials I've located on this utilize CharacterController-
Can I please get some insight on how a 3D wall jump mechanic would be achieved with a Rigidbody-based player?