All of which takes us back to correct take-off procedure. A torque roll on take-off is usually caused by too much power when moving too slowly, causing the plane to "jump off" the strip (the weight hanging from the prop) instead of "flying" off (the weight sitting on the wings), which in turn causes yaw, which induces a roll, as both DaRock and CGR pointed out. The correct method is to slowly & smoothly apply power allowing the plane to build up speed while the weight's still on the wheels. If it's a taildragger you then "fly the tail" while still smoothly increasing power (ie: use the elevator to keep the plane level with the mains still on the ground). Only when the plane has reached flight speed to you rotate it for a smooth lift-off with a gentle slope.

If it all goes pear shaped and the plane takes off using engine power for lift instead of airspeed over the wings the chance of a torque roll is high and you should be ready on the rudder to keep the plane straight. Because the flight surfaces won't be working at anywhere near full efficiency at this speed you don't want to let it get into a roll that'll be hard to recover from - you want to keep it tracking straight so it doesn't get to roll in the first place. The reason the plane starts to roll is because when it begins to yaw the wing on the inside of the turn is moving slower than the opposite one, which means it's generating less lift so it drops the wing.

If you forget/were too late/etc with the rudder and the plane DOES roll, then your only alternative is to use the ailerons to level the wings before it rolls too far and tip stalls (remembering we're not really at flight speed and the wings are barely working). What you DON'T want to do at this point is slam the stick over to the right in a panic - we're not trying to execute a fighter turn, we're simply keeping the wings level. Keep your right rudder going and give the ailerons a twitch of right stick just to pull it inline. If it's a good day it'll level out and get up to flight speed. If it's a bad day you'll be looking for a garbage bag to put your plane into. Thankfully there's more good days than bad ones.

If you find that on most/all take-offs you're having to correct rolls I'd suggest some practice time doing high speed taxi-ing. Line your plane up on the runway and start your take-off procedure, but don't let it get off the ground. When you're 1/2 - 2/3 down the runway (depending on how long your runway is) smoothly cut the power and abort the take-off. Turn the plane around and try it again. You want to see how fast you can "drive" your plane along the ground without it lifting off. (This should probably be done on a really smooth grass runway or even better a paved one in good condition. Don't try it on your local park as too much rough ground at high speed will have you repairing your undercarriage.)