HUD's web site has a section that contains information about RESPA. When the escrow rules first came out, the model forms where codified in the code of federal regulations (CFR). HUD later decided to remove them from the CFR and make them available in the public guidance document section of their web site.
Here's a link to the model form for an initial escrow account disclosure statement.
http://www.hud.gov/offices/hsg/ramh/res/appendixg1.pdf You will see that it mentions the servicers toll-free number at the top of the form.
The following link will take you to the public guidance document section where you can see other disclosures.
http://www.hud.gov/offices/hsg/ramh/res/respagui.cfm