As others have said, read the Dingy Towing Guide for general information, then when you are serious about one vehicle, be sure to check the owner's manual for the specifics.
I have towed my 2011 Ford Escape 4x4 over 15,000 miles and it works great, mileage does not accrue on odometer. Simply put it in neutral, go through a sequence described in the owner's manual, and off you go. Follow instructions on having fluid level lowered by Ford Dealer, and you are covered by factory warranty.
In about May 2012, Ford decertified these vehicles for flat tow, so if you get one make sure it is pre that date.
Happy Trails, Forrest
(Forrest and Donna)
2011 Georgetown 378TS
2011 Ford Escape V-6 4X4