`jj` or `jk` to normal mode - 71/dance GitHub Wiki

In keybindings.json:

{
  "key": "j",
  "command": "dance.openMenu",
  "args": {
    "menu": {
      "items": {
        "jk": {
          "text": "escape to normal",
          "command": "dance.modes.set.normal"
        }
      }
    },
    "prefix": "j"
  },
  "when": "editorTextFocus && dance.mode == 'insert'"
},

There is also another pretty good way: https://github.com/71/dance/issues/74#issuecomment-819127215 , esp. if using an older version of Dance.