The archives has records on POW's but a search for "escaped" came up blank. Searching for "escape" led to multiple records or prisoners who were "Executed, Died in Ship's Sinking or Result of Ship Sinking, Shot While Attempting Escape". See
NARA - AAD - List of Series - Wars/ International Relations: World War II for a link to the POW database.
Given the Nazi's penchant for record keeping, the information is likely somewhere, though where I am not certain.
I'm interested in the info that you have. Go ahead and post it.