Ford reports that some 2013-14 Escape SUVs may produce a squeaking sound whenever the brake pedal is depressed.
One likely cause for the noise, says the carmaker, is the brake pedal's Clevis Pin binding against the brake booster pushrod. Installing a new-design clevis pin (part #3M5Z-2L523-AA), and lubricating it with high temperature grease should eliminate the problem immediately.