I dunno. I knew someone who was really good and really enjoyed at making cakes. She used to make cakes for people she cared about like her family, friends etc..
One day she was asked to make a wedding cake by a close friend and few people at the wedding contacted her in the future about cakes for their own functions/events.
This girl was flattered so decided to do what she loved doing in her spare time anyways outside of her normal work for these people who offered her money for it. Obviously to do this she had to get her business hat on and think about costs, mark up etc.
She was making a little money on the side doing this for a little while it was all word of mouth, no advertising etc business was a little sporadic. Slowly over 2 years or so demand steadily grew and she was getting a little bit more busier. It got to a stage where she actually had enough demand from the cake business to quit her normal job and make a similar amount of money doing what she loved but commercially.
Now we wouldn't really look down on the lady in the above example, earning her own money and being independent. So how can you look down on a escort in the same situation if she enjoys or is good at sex?
I agree that is someone is doing it out of desperation, coercion or addiction, It's not great.