I'm currently part-way through Runciman's three volume history of the Crusades. One of the prominent Franks in the early period was Joscelin of Courtenay, who was captured in battle in 1122. Subsequently Baldwin II, trying to find out what happened by scouting the area of Joscelin's capture, was himself ambushed and captured while engaging in some falconry.
The fortress where the two were being held was in Armenia, and Joscelin had a good relationship with the Armenians. He had an Armenian peasant take a message to his friends, and as a result fifty Armenian allies entered the fortress disguised as merchants and monks seeking an audience with the governor. They then produced concealed weapons and took over the fortress. Joscelin left the fortress with two Armenians to seek help while Baldwin and the rest stayed on to try and hold it. Joscelin, who couldn't swim, escaped across the Euphrates river by floating on two inflated wineskins while being aided by the Armenians, who could swim. He then led an army back to the fortress to try and free Baldwin II.
Unfortunately for Joscelin and Baldwin, and fortunately for their captors, this didn't work out - Baldwin's defence of the captured fortress had failed and he'd been taken to a more secure fortress. Still, this is like an episode from a mediaeval/fantasy game, and characters like Joscelin and Baldwin would fit right in as PC warrior types.