This page on TfL's website may help a bit -
https://www.tfl.gov.uk/transport-accessibility/wheelchair-access-and-avoiding-stairs - although it's more aimed towards people who are unable to use stairs, and it is slightly misleading for your question.
Balham (for example, which I use daily) has escalators from ticket office level to platform (although there is a fixed staircase between the two escalators) but is not shown as having escalators on the maps you can get on that page, because there is only staircases to gain access from street level to ticket office level.
Most underground stations with escalators will have staircase access as well - these can be next to or in between escalators (don't know if that will be a problem for you) or they can very long spiral staircases at the 'deep tube' stations.
For clarity, the 'deep tube' lines are the bakerloo, piccadilly, northern, jubilee, central - although all of these have some stations above ground at the outer end.
As others have said, if you've got a particular journey in mind, then let us have the details, and I'm sure you'll get a few suggestions how to do it without escalators and / or by bus.
By the way, London 'Travelcards' are valid on London bus services (this may be stating the obvious, but i've encountered a few people who assume they are valid only on the underground and not buses.) London's bus network is extremely comprehensive, although if you try to contemplate the entire network of several hundred routes, it can be a bit daunting initially.