The possible cancer causing agent, known as PFOA (perfluorooctanoic acid) used to make teflon is not actually *IN* teflon. It is removed during the production process. What the EPA wants phased out over the next five years is the use of PFOA, not the end product we know as Teflon (aka PTFE, the most commonly used waterproof-breathable membrane in outdoor usage.)
What is released when teflon is overheated is as many as 15 different chemicals, including some which are lethal to birds. Birds are physiologically different from humans. Humans can have negative effects (though no health and safety organization says the effects are life threatnening to humans) from inhaling these chemicals, but they are generally not released under normal cooking temperatures (teflon maintains its chemical integrity up to 500deg F). Also, the damage they do is easily repaired by an otherwise healthy human body.
As a side note – PFOA is released into the air by many thousands of metric tons each year during the production of PTFE. Almost every American has at least SOME PFOA in their system, regardless of their teflon usage. You could never use a teflon product in your entire life, and be full of PFOA.
All that being said, Im not a huge fan of teflon personally, it stratches too easily, and so I use mostly cast iron at home and a very thin walled stainless steel cup on the trail – so I can use a nice harsh abrasive like sand to really gouge away any stuck on mess. You could probably do that with titanium as well.