Run this:
    puts "Type any characters, then <Return>."

    expect {
        ? {
            set result $expect_out(0,string)
            if {[string compare \n $result]} {
                scan $result %c value
                if {$value==27} {
                    puts "You just typed Esc (decimal ASCII 27)."
                } {
                    puts "You just typed '$result' (decimal ASCII $value)."
                }
            }
            exp_continue
        }
    }



Example output:  type "a<CR>", see decimal 97; type
"<F1><CR>", see the sequence





27-91-49-(49,50)-126
[[explain]]
Win 95










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Also see "[keysyms]", CWIND [[?]], and "[How to send escape characters through Expect]".
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[Csan] The original code did not handle the Esc $result properly - it ate the second ' character in the output.
I added a branch to handle that case.