Have you ever dealt with this party before? Always I mean ALWAYS make sure you know who you are dealing with. You can't transfer your Domain name via Escrow, but I would recommend using Escrow for the serivce just incase someone trys to scam you. I would also ask a few people here on the boards if they have ever dealt with the individual. A few Names pop in my head, NameSlave, TimeChange, Bashar, and a few others can't think of right now. Do a pretty good research on the domain name make sure it was not in dispute at WIPO or anything else clinging onto it.
I have bought and sold domains upto $1000 and have never used Escrow. Of course most of the people I bought from have been established members of the forums I attend. When I sell a domain I will always entertain escrow.com but it all cases the buyer sends me the funds before I transfer the domain. Others may do business different.
At a minimum I would do a whois and check out the other party really well. What do you consider significant? I usually get tense with deals over $500.
Acts, yes I agree with you but if you have never dealt with the party before always best to get a middle man/woman/company to push the transaction through so "Everyone" is happy. But as I said before and Acts says, Get all the info you can or I guess I said that and putting words in Acts mouth.