With the Blue Jays trailing 4-3 in the sixth inning, Adam Lind led off with a single against CC Sabathia (13-4) and Escobar followed by socking a 3-2 pitch deep into the left-field bleachers, putting Toronto ahead for good.
Escobar also delivered run-scoring doubles third and ninth innings as the Blue Jays took two of three at Yankee Stadium.
J.A. Happ (10-10) earned the win after going five innings, during which he allowed four runs on four hits and five walks while fanning six.
Casey Janssen picked up his 17th save for Toronto.
Sabathia yielded five runs (two earned) on nine hits in a seven-inning effort, suffering his first loss since June 7 -- a span of nine starts.
Curtis Granderson drove in three runs for American League East-leading New York.