I suggest finding the index of the first mask ocurrence:
private static int MaskIndex(byte[] source, byte[] mask) {
  if (mask.Length == 0)
    return 0; // or source.Length; or throw exception
  for (int i = 0; i < source.Length - mask.Length + 1; ++i) {
    bool found = true;
    for (int j = 0; j < mask.Length; ++j)
      if (source[i + j] != mask[j]) {
        found = false;
        break;
      }
    if (found)
      return i;
  }
  return source.Length;
}
Having this you can implement EscapeArray as
private byte[] EscapeArray(int startIndex, byte[] source, byte[] mask) {
  int n = MaskIndex(source, mask);
  if (startIndex > n)
    return new byte[0]; // or throw exception 
  return source.Skip(startIndex).Take(n - startIndex).ToArray();
}
Test:
byte[] source = new byte[] 
  { 97, 98, 99, 5, 15, 66, 77, 102, 0, 102, 0, 102, 0, 102, 0, 102, 0 };
byte[] mask = new byte[] 
  { 102, 0, 102, 0, 102, 0, 102, 0 };
// 97, 98, 99, 5, 15, 66, 77  
Console.WriteLine(string.Join(", ", EscapeArray(0, source, mask)));
// 97, 98, 99, 5, 15, 66, 77, 102, 0, 102, 0, 102, 0, 102, 0, 102, 0
Console.WriteLine(string.Join(", ", EscapeArray(0, source, new byte[] {123})));
solved C# get part of array by array mask