You may like to also try `CTRL+[`. It's the telnet escape character and seems to be a general substitute for ESC on OSX, Windows, and I think Linux too. I find it pretty quick since my hands can work together.
Another handy tip I ran across was to remap CAPS LOCK to CTRL. Quite nice for both Vim and Emacs users once you get used to it.
Alt+Movement is what I usually use, since it's easy to hit on my keyboard, and lets you combine dropping out of insert mode and a movement command to move you towards where you want to be for whatever you want to do next.
If you don't want to move, you can just hit Alt+l as the "default" escape.