We propose a novel $K$-nearest neighbor resampling procedure for estimating the performance of a policy from historical data containing realized episodes of a decision process generated under a different policy. We focus on feedback policies that depend deterministically on the current state in environments with continuous state-action spaces and system-inherent stochasticity effected by chosen actions. Such settings are common in a wide range of high-stake applications and are actively investigated in the context of stochastic control. Our procedure exploits that similar state/action pairs (in a metric sense) are associated with similar rewards and state transitions. This enables our resampling procedure to tackle the counterfactual estimation problem underlying off-policy evaluation (OPE) by simulating trajectories similarly to Monte Carlo methods. Compared to other OPE methods, our algorithm does not require optimization, can be efficiently implemented via tree-based nearest neighbor search and parallelization and does not explicitly assume a parametric model for the environment's dynamics. These properties make the proposed resampling algorithm particularly useful for stochastic control environments. We prove that our method is statistically consistent in estimating the performance of a policy in the OPE setting under weak assumptions and for data sets containing entire episodes rather than independent transitions. To establish the consistency, we generalize Stone's Theorem, a well-known result in nonparametric statistics on local averaging, to include episodic data and the counterfactual estimation underlying OPE. Numerical experiments demonstrate the effectiveness of the algorithm in a variety of stochastic control settings including a linear quadratic regulator, trade execution in limit order books and online stochastic bin packing.

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