awk '{ if (index($0, "\x01B") ) { print $0 }}' myfile

#!/usr/bin/perl

# @(#) p1       Demonstrate search for escape.

use warnings;
use strict;

my($lines) = 0;

while ( <> ) {
        $lines++;
        print "$. $_" if /\e/xms;       # always use xms on matches
}

print STDERR " ( Lines read: $lines )\n";

exit(0);

% cat -vet data1
Now is the time to see an escape :^[:$
for all good men$
to come to the aid for escape ^[ from jail$
of their country.$

% ./p1 data1
1 Now is the time to see an escape :
3 to come to the aid for escape from jail
 ( Lines read: 4 )