dock in a station, on the right middle side, you will see a group of buttons, missions, fitting, factories, market .... depending on what station you are in more or less buttons will be shown. But if I recall correctly, every station should have the missions button. And thats the one you need, so click on it.
a new window will drop down, at the top, you can select out of 3 tabs: courrier, bounty and escrow. Click on the escrow one.
now it will laod all escrows that you can see. Just below the escrow tab, there should be a second option tab now. called: Available escrow deals, and enter items in escrow. Take a wild guess which one you need
When you select the "enter items into escrow" thingy, you will see a dropdown box appear...this holds all the station names, where you have assets set. So you need to select the station where that ship of yours is located. (Yes you can put items in escrow even when you are at the other side of the galaxy).
When you have selected that station, the dropdown box will change into a list containing every item and ship in that station (you selected from the dropdown menu).
Click on the thing or things you want to escrow (in your case the ship) so it gets highlighted. All you need to do now, is fill in the the text boxes on the right. Price: obvious what this means. Expire (in days): Set the amount of time you want the escrow to be available (maximum is 7 days I think). Restrict to a pilot or corporation members: Fill in the name of the pilot you want to escrow the ship to, If multiple entries are found, it will ask you to select the right one, you can also fill in a partial name, and it will look for matches, where you need to select the right one again. Description: Fill some text in that is going to be shown on the escrow (IE: your ship I promised).
All you need to do now is hit "submit contract" and it goes into escrow.
Now the thing is: The escrow disappear from the general overview after 4-5 hours .... but it still remain on escrow, and after 4-5 hours you can only see the escrow when you are in the same region as the region where the item is in escrow. So a good idea is always to send the person an evemail, saying.. I escrowed you [fill in item] in Yulai - DED assembly, for 7 days. If it's not showing up, go to essence region and check escrow again.
That should be it, hope you understand it all.