He Is Coming: How to Use Waypoints for Fast Travel
In He is Coming, waypoints can be discovered only by exploring the map. They have a wooden signboard icon. After activating a waypoint, you can instantly travel to it saving you the trouble of walking back. You don’t have to activate a second one for fast travel. Even if you unlock a single waypoint, you can travel back to it if you way wandered far away from it.

To activate a waypoint, simply approach and move over the icon.

Once a waypoint has been discovered and activated, you can fast travel to that area. Press and hold the left shift key to enter map mode and use the arrow keys to move the cursor to the waypoint tile.

With the cursor placed on the waypoint tile, press the spacebar to fast travel and release the left shift key.

When a single waypoint is activated, you can fast travel to that location. If you have activated two waypoints, you can travel between them by following the same steps.
Check out my gameplay video below to know how to fast travel with one and two waypoints: