(NOTE: As far as I know, this skip can only be done with Tavo.) The build-up for this skip is at stage 11, where you must avoid damage boosting to reach the transport orb more quickly, saving your HP for later.

After that comes stage 12, and a video showing how the skip works:

As shown in the video, the skip can be almost 4 seconds faster than the damage boost skip in stage 11. I believe it can be done faster if no mistakes are made here.