Don't have a Ford Escape, so no idea how they attach. Is it a tapered spline with an acorn nut holding it on? Maybe a battery terminal puller would work? How often are you removing these? Maybe a piece of wood to protect the paint and pry off with a large screwdriver or pry bar?
HTH, Jim
Don't need a puller for those. All I did at the dealership is lift the wiper all the way up. Push down hard at the hing while pulling up at the end. When you get ready to put the arms back on look close at the windshield there are marks to line them up on. Otherwise they go all kinds of whacky if they are not lined up.
I'd take a door panel clip tool and work them off. I have found if the arm is the try that the splines are cut into it as its installed. They are a 1 tine use, type of part. They never seem to go back on right, just an FYI.
Just flip them up off the window and give em a wiggle. They pop right off. They are also labeled rh and lh so dont mix them up. And as stated there are marks on the glass where the blades are supposed to sit so you can just line them back up.