People are seriously misunderstanding what "escape velocity" means. It is the speed at which an object, with no force applied, will escape the pull of gravity from whatever object it is leaving. No man-made object, to the best of my knowledge, has actually achieved earth escape velocity in one go. Things have left orbit, but they did so by applying a continual force from the surface of the earth all the way into space. Technically, if I took a brick and applied a continual force greater than the force of gravity on the object for all time, then I could take that brick all the way into deep space and beyond. But that doesn't mean it had escape velocity when it was being pushed out of the atmosphere.
EDIT: I guess what I'm saying is that it's the force that's important. If something can apply the force necessary to counter gravity's pull, then it can climb out of a gravity well. While the engine is on, it accelerates upwards, when it cuts out the object will accelerate downwards. Having an engine isn't a precondition to attaining escape velocity, and having an engine doesn't mean it's possible.