The Scroll of Escape is a craftable item also found in dungeons.
To use this item, hold down the right mouse button for a few seconds and it will then teleport you to the last location you slept in. (NOTE: The last location you slept in, not your /home). If you haven't slept in a bed, it will bring you to your original spawn point. It cannot teleport you out of different dimensions (e.g. Nether to Overworld).
There seems to be a bug where when teleporting to spawn without sleeping anywhere can spawn you under ground and suffocate.
The Scroll also seems to be a one time use item. In the second time the player uses the item, it will delete itself.