There's another thread, should be made sticky, but oh well...
THe teleporters are in the Home towns, at three different areas:
Port Windurst - D5 - Rottata
North Sandoria - d9 - Jeanvirgeaud
Bastok Metalworks - f8 - Conrad
And toa ctually get an area activated for teleportation, you have to do a supply quest to that region... get that from the guys who cast signet on you :)