2012 Ford Escape cruise won't come on. If I press the + button it comes on. Tap the brake and it shuts off.

SOURCE: removal of rear brake drum 2002 ford escape

make sure handbrake is off take wheel off hit the drum with a mallet not steel,as it will brake,hit on outter diametter face of drum, try and rotate as you twist off

SOURCE: cruise control

ok, there are two issues. one could be a fuse that you can exchange out with a working one. secondly, this could be a sensor that is connected to the cruise control assembly under the hood. i would pop the hood to see if the cruse control assembly has became stuck or the cable may have been severed as well.

SOURCE: i have a 2001 ford escape and the cruise control

I had the exact same problem on my 2002 Escape. If you remove the engine cover (3 bolts), you will see where the cruise control links to the the throttle body. If your problem is the same as mine, you will see that it is not connected. I believe it is intended to snap on, but it just doesn't stay. I temporarily snapped it in and wrapped electrical tape to prevent it from unsnapping. Worked like a charm.
Hope this helps.

SOURCE: The cruise control on my 2001 ford escape doesn't

http://www.fixya.com/cars/t2616544-2001_ford_escape_cruise_control Possibly the same solution?
I had the exact same problem on my 2002 Escape. If you remove the engine cover (3 bolts), you will see where the cruise control links to the the throttle body. If your problem is the same as mine, you will see that it is not connected. I believe it is intended to snap on, but it just doesn't stay. I temporarily snapped it in and wrapped electrical tape to prevent it from unsnapping. Worked like a charm.
Hope this helps.

SOURCE: cruise control ford escape 2002. ford escape

If the cruise lamp comes on and the cruise does not set i would advise inspecting the cruise cable and make certain it is not broken, if ok the the servo has likely failed.