Not if you are putting down 20% and obtaining a Conventional Loan and only if you are applying for an FHA loan or have a credit score less than 720 and are putting down less than 5%.

You can waive your escrow requirement with a Conventional loan if you are putting down 20%+ or have a credit score of 720+ and are putting down 5%+.

Escrow cannot be waived for FHA or USDA loans but can be waived for VA loans.