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You initiate the escrow, let them know the name, the sales price and who is responsible for the escrow fee, (buyer, seller or split). Give escrow the buyers email address.
escrow emails the buyer, buyer agrees to the transaction and transfers funds to escrow
when escrow have the funds they instruct you to transfer the name
escrow confirm transfer and wire you the money.
escrow only deal in USD, so for a .co.uk what usually happens .....
pounds are converted to dollars and back to pounds so you will see currency fluctuation
We are here talking about escrow.com, aren't we? Then yes Mojoco's explanation is correct but any other escrow service or site I would not consider it without investigation.
also be careful when you agree to the part about inspection
the buyer is given an inspection period, which defaults to 3 or maybe 5 days, which will delay your funds
you can opt out out of this and are asked for your reason
something along the lines of "as soon as the whois record is updated to the new registrant I no longer have control of the domain and will require immediate payment" will suffice