This may seem like a silly question, but how does the ESTA stop?!
ESTA approval does not stop just because you leave the country. It stops when one of these things happen:
- The two-year approval period ends or your passport expires, whichever comes first
Or
- The US revokes it. This could happen because you do something that means you can no longer use the Visa Waiver Program (such as overstay) or because the US discovers you have taken up a life of crime or become a terrorist.
Your question is really about admission under the Visa Waiver Program, not about ESTA.
When you show up at a US immigration desk, you apply for admission to the US. Admission is always at the discretion of the immigration official. Having ESTA pre-approval or even a full visa does not guarantee admission. People applying for admission under the VWP are rarely denied entry, but it happens. The few reports I've seen were people who didn't realize that working in exchange for room and board requires a work visa, and someone who arrived at a land border & was denied entry because she had no access to funds.
Anyway, you arrive and apply for admission under the VWP. All goes well and the official either grants you a 90-day stay or a stay until your passport expires, whichever comes first.
The US has no exit controls. If you fly out of the US to another country, the airline notifies US immigration that you have left. (Same thing with a ticket on a commercial boat). If you leave by land or by a private yacht or some such, there is no such notice. What happens is that, once the 90 days is up, a computer puts you on a list as having overstayed the 90-days you were allowed. There is a way to prove to the US that you did indeed leave north America within 90 days (for example, you took a bus to Toronto and then flew to the UK), but it is a pain.
If you try to come back to the US, the official is going to see that overstay on the computer and deny you entry. It sometimes happens that someone who has been in Canada or Mexico for many months after leaving the US, is allowed to re-enter under the WVP, but you can't count on it.
If you plan to stay in Canada to work and visit the US every so often, then you are going to need a full B2 visa. Here is how the US Embassy in Canberra words it (it applies to everyone, not just Australians)
Travelling to Canada for the Canadian Working Holiday Program (WHP)
Applicants travelling to Canada for the Canadian WHP may wish to apply for a tourist visa prior to travel, rather than use the VWP. Most flights to Canada [from Australia] transit the United States, and if you are planning to spend longer than 90 days in Canada the VWP may not be appropriate for such a transit.
Additionally, WHP participants may wish to visit the United States from time to time while living in Canada. This again may require a tourist visa, rather than the VWP. Most short terms visitors to the United States enter on the B1/B2 Business/Tourism visa.