Set bash to use Vi-mode and remap <Esc> to jj

.inputrc

# want vi to be the default editor for readline                      
set editing-mode vi                                            

# vi settings                                         
$if mode=vi                
    # normal mode                           
    set keymap vi-command                                 
    # insert mode             
    set keymap vi-insert                          
    "jj": vi-movement-mode # remap escape   
$endif