Though not exactly the same, the procedure is probably very similar to that in the 2005-2007 Focus. The gist of it is to remove the wheel, remove the bolts that hold the caliper and caliper braket in place, and then pull the rotor off the wheel lugs.
When you do it you should take some pictures and make a guide for it so that everyone else with an Escape can learn how to replace their brakes!
Fred b, the manual suggest that you :
"Remove the wheel and tire assembly.
Remove the brake caliper clip.
Remove the brake caliper bolt caps and the bolts.
Position the caliper aside and support.
Remove the outboard brake pad.
Remove the bolts and brake caliper anchor plate.
Remove the brake disc retaining clips (if equipped) and the brake disc.
Remove the brake rotor."
Of course, any of this is slightly modified depending on engine size, ABS and traction control. Hope this helps, good Luck.