Summarize:

If you're able to walk on carpeting or a rug, choose this instead of wood. The extra padding will quiet your footsteps so no one can hear you, and it's less likely to cause squeaking. Remember to walk slowly across the floor to avoid making noise. Consider wearing socks if you're walking across wood. Focus hard on listening to all the sounds around you as you're sneaking out. If you're paying attention to any noise, you'll hopefully be able to hear someone else moving around or coming towards you. If you did a practice run of your escape plan, you should be aware of any doors that creak or make noise. Twist the doorknobs very slowly to stay quiet, and open and close doors very slowly as well. If you're opening a window, avoid pushing it up too quickly or it will make noise as well. The center of each step is usually the spot that produces the most creaks. Try to stick close to the railing or the wall, tiptoeing down the steps slowly. Put more of your weight on the wall or the railing to produce less noise on the stairs. The sides of the stairs are where they're most reinforced, making them less likely to squeak or make noise. Not only will this save you time, but you won't have to worry about sitting down and tying your shoelaces in the dark or walking in heels quietly towards the door. Wait until you're outside and out of sight before you put on your shoes. Carry your shoes in your bag so you don't have to fumble with them in your hands as you're leaving. If your door requires a key to lock or unlock it, separate the key from the keychain if necessary and have it ready to go in your hand. This will eliminate any sounds of jingling that might wake up someone in the house, as well as save time. Have your key out and ready when you return home as well.
Try to walk across carpet whenever possible. Stay alert so you can hear people coming. Open doors very slowly to avoid making noise. Walk down the sides of staircases to avoid any creaks. Put your shoes on after you're already outside. Have any keys ready in your hand to lock or unlock doors.