For many people, the advice 'change your car' isn't very helpful. There are things people can do with their existing car to get better mileage.
You can start by looking at our Collected Tips. I don't have any specific advice for the Ford Escape. You might try searching google for a specific Ford Escape forum and ask your question there. There could be a higher concentration of people who have that car that have been able to get better mileage and they might have more specific tips.
Slightly overfill your tires to create less rolling resistance.
Get a decent fuel system cleaner like STP Complete Fuel System Cleaner every time you get your oil changed.
Take it easy on startups and when accelerating uphill. You dont want to put any unecessary pressure on the gas pedal. Only apply enough to keep a constant speed and let youe speed build up when youre on level again (or better when you go downhill).
I have a 2005 Ford Escape 3.0L V6. After 182,000 faithful miles, it's for sale as a "Mechanic's Special", since it's got some engine problems. I consistently got 19-20mpg, with mixed city/hwy driving. The best fuel economy I got was when I used non-Ethanol fuel. It costs more per gallon where I live in FL, but in your locale, if available, it may be about the same as eth-blend. Try that, and see if it helps.