Then I don't know how to advise you per the regulation.
You could cancel the check issued to the customer (and inform them). You also need to review the loan contract and see what rights it gives you. I'm sure it requires insurance to be in place and discusses this. You say the borrower indicated they don't have insurance anymore. Why? If they cancelled the insurance, they violated the loan agreement. This would also explain why you didn't get notice from the company.
I'd also contact the insurance company and have a firm talk with the agent. If the bank was listed as loss payee, the bank should have been notified of any cancellation.
Last, you say you have force placed insurance. This is difficult to advise as you should never have to force place insurance when you also escrow. I would think you could reimburse the bank from the escrow account.
This all needs to be brought to those that handle the escrow accounts, the loan officer and loan administration that monitor insurance. You've got a mess (as you know) that could have all been avoided had normal banking practices been applied.