Social escorts are basically (mostly) female models who are supposed to act as a partner and plus 1 and escort their clients to various places, and usually social events or perhaps private dates. Some escorts have been known to engage in sexual activities with their clients, but this is not performed for money, but is not part of their official job scope.
On the other hand, a prostitute is hired purely for sex or sexual services.
To put it simply, Singapore escort girls basically provides you with the girlfriend experience (affectionately known as GFE in Singapore), while prostitutes are just that. Social escorts are also usually required to be eloquent and classy.
Additionally, in Singapore, being a social escort, and marketing social escort services is 100% legal and regulated by the government. However, prostitution is legal in Singapore, but the marketing or soliciting of it is strictly illegal. An escort is simply a paid companion, and this is why social escort agencies in Singapore is legal while pimps are not.
If you want to watch a video explaining the difference, then check out the following video!
(Please note featured image girl is randomly picked)