Escrow on ICOs? I think its not possible not unless you are talking about signature/bounty campaign. Its still hard to avoid scam ICOs because even they have escrowed bounty campaign they still failed on their project after that, so your money will be loss for good. There is still no guaranteed profit when you invest on ICO, for me its better to buy token after listing on the exchange where token is more cheaper than the ICO price.
Agreed with you, even some ICO's have escrowed their bounty campaign, we still didn't know if it would be a scam after they finish their ICO. And Some other ICO's still turned into a scam even their project is successfully ended. And some ICO's successfully ended but when listing on an exchanger their value is so low and not even met their ICO price.