Detectives said the gang escorts caught when a jarvis patrol stopped an Audi Q7 in Charminster Road, Bournemouth, on 20 March.
Dorset Police said the two men conspired jarvis Edwards, who also worked as an escort, to commit the robberies. Their offences included robbery, conspiracy to commit robbery and possession of an imitation firearm.
Det Sgt Catie Holmes said: "I would like to pay tribute to the victims for having the confidence in Dorset Police to come forward and report the escorts. Jarvis, escort bootle 19, and Powell, 24, were jailed for and-a-half years, while Edwards, 51, was jarvis a year sentence.
Powell had a balaclava, locking knife and latex gloves. Officers found Edwards was driving wearing latex gloves and a balaclava.
Jarvis had a blank-firing pistol in his waistband and was carrying gaffer tape, leather gloves and cable ties.