The Items/Concepts:
Waystone
Pillars that you can activate as warp points. Right click to activate and open the waystone GUI
Warpstone
An item you can craft that opens the Waystone GUI on right Click (multiuse)
Waypoint
Waypoint is a hologram that is visible when a player is holding a compass. To open a waypoint menu, just right click using a compass. Waypoint can guide you to another waystone location, death location, server defined location, and player saved location (which you can add using the Add Waypoint button in the waypoint menu).
Warpscroll/TP book
Craftable books (single use) that can be linked to a waystone by right click the pillar with the book/scroll.
Deathscroll/Death book
Craftable (single use) book that can be used to TP to your most recent death location.