Tips: How to remap command, control, escape, and other keys in macOS Sierra
macOS Sierra has ushered in a number of new changes for Mac users, including the ability to remap the modifier keys, like the escape, control, command, or option keys to another hardware button. Here's how to do it.

The remapping ability isn't necessarily new to macOS 10.12.1. You could previously remap the functions for the caps lock, control, option, or command keys. It is, however, the first time that you can remap the Escape key without using a third-party utility.
This could come in handy for users who would like to keep the hardware ability to map the escape key to a different, less used mechanical key, rather than a touch action, if the rumors about the OLED Magic Toolbar replacing the hardware F-keys on the new MacBook Pros are true.



The remapping ability isn't necessarily new to macOS 10.12.1. You could previously remap the functions for the caps lock, control, option, or command keys. It is, however, the first time that you can remap the Escape key without using a third-party utility.
This could come in handy for users who would like to keep the hardware ability to map the escape key to a different, less used mechanical key, rather than a touch action, if the rumors about the OLED Magic Toolbar replacing the hardware F-keys on the new MacBook Pros are true.
How to remap the Escape to a hardware key in 4 Steps
To remap the Escape key to another hardware key:- 1. Open System Preferences and find Keyboard.

- 2. Select the Modifier Keys option located in the bottom right corner.

- 3. Select the drop down box that is next to the hardware key that you'd like to remap. Then select Escape.

- 4. Finally, click OK then close System Preferences.
Comments
fn + delete = delete (forward)
7 years with a Mac and I never knew about fn + delete!! Thanks!!
This is what we've always used when we have a keyboard designed for WinPC hooked up to our Macs. Otherwise your thumbs have to become contortionists to reach Command.
Mapping to Esc or "No action" is new in Sierra tho.