Add Escape fonction API https://github.com/mysqljs/mysql#escaping-query-values

• escape for parameters
• escape Identifier.

mysqljs/mysql has another API `format` that doesn't seem to have any reason to be implemented.

Escape / EscapeId makes sense to implements even if there will be some limitations.
EscapeId must escape according to https://mariadb.com/kb/en/library/identifier-names/

Escape function is mostly for easy use, but compare to using placeholder this have some limitations :
This will mean string concatenation, so less performant and use more memory (implementation directly write to socket buffer, avoiding string concatenation), and won't permit Stream parameters.

Documentation about escaping must describe preference to use question mark placeholder.