Slightly OT but in answer to the 'why is prostitution illegal anyway' comments:
Prostitution is morally dubious. Certainly, in many cases, there are women (and men of course) who are comfortable with idea of someone fucking them and they get money and that's that. However, that is not the same thing as consensual sex. In consensual sex both (all) parties want to have the sexual experience and enjoy it, at least partly, on a sexual level. In the relationship between the paid sex worker and the client the paid sex worker is contractually obliging her/himself to have a sexual experience whether or not there is any enjoyment on a sexual level. One can certainly argue that that is the individual's prerogative but it so clearly leads to self esteem issues, abuses of obligation and can exacerbate, if not actually cause, mental health issues in some.
In theory, it is arguable that it is the social stigma that is part of the problem and if that were removed sex workers might not have as many issues with their 'chosen' profession. However I don't believe that to be true of the vast majority of sex workers. It certainly is false for 100% of the sex workers I have personally known. I am not saying, please note, that you have to be disturbed to be a sex worker - but many people come out of a sex profession with a bundle of baggage to deal with.
To answer an earlier point about regulation; the prostitution in Amsterdam is regulated (well, most of the hetro prostitution anyway) and yes, they have screening programs and the workers pay taxes and have a certain level of security - is it better that way? I really don't know. A disproportionate number of the women there these days seem to come from Eastern European and Africa (as is the case with the illegal industry in my home country, here and elsewhere) and that concerns me as to how free the choice these women* are making actually is.
As for escort v prostitute - I have only one thing to say: A rose by any other name...
* I know a lot less about male prostitution in this circumstance, hance my switching to the hetro only - rather than make sweeping statements that do not apply.