You can fast travel to select locations on the server once you have discovered their warps.
Stepping into the beacon beam at spawn or in the shopping district, or on any of a small assortment of warp points around the worlds, unlocks a quickwarp menu.
Use the command /warps to open a menu with clickable icons to travel to the selected location. If you have not discovered a warp yet the icon will be X out with a hint to where you can find it.
You will need to visit each warp to unlock it. Sometimes you may need to step off the warp point and back onto it. Once you have visited the warp, you can access it through the /warps command from anywhere.