It's not the escape itself that is 'daring'; it's the people who did it. A 'daring escape' is an escape that could only be [or have been] effected by daring people [= people who are prepared to taKe risks]. By the same sort of transference (from the doer to the thing done) it could be called 'a risky escape'; by a rather different sort of transference (from the attitude of the audience to the thing done) it could be called 'a nail-biting escape'.
b