Become a contractor and work remotely. Search patio11 comments / threads on HN about it. This probably isn't something you do overnight, but create a plan, and hopefully in a year or two you'll be in a place to make it happen.
Maybe check out the monthly who's hiring threads posted on HN too and see what type of jobs are remote and what type of skills they are looking for. Adapt your skill set to fit their needs. Working remote is probably the easiest way to do what you are asking. Starting a company is many many time harder and you'll be working 9am-9pm 7 days a week.
It's not like you really escape the 9-5 working remotely, but you just have more flexibility with your time and location. You need to want it bad and be self-motivated. Find a way or make one.