(Abridged) This is the first of a series of papers in which we derive simultaneous constraints on cosmological parameters and X-ray scaling relations using observations of the growth of massive, X-ray flux-selected galaxy clusters. Our data set consists of 238 clusters drawn from the ROSAT All-Sky Survey, and incorporates extensive follow-up observations using the Chandra X-ray Observatory. Here we describe and implement a new statistical framework required to self-consistently produce simultaneous constraints on cosmology and scaling relations from such data, and present results on models of dark energy. In spatially flat models with a constant dark energy equation of state, w, the cluster data yield Omega_m=0.23 +- 0.04, sigma_8=0.82 +- 0.05, and w=-1.01 +- 0.20, marginalizing over conservative allowances for systematic uncertainties. These constraints agree well and are competitive with independent data in the form of cosmic microwave background (CMB) anisotropies, type Ia supernovae (SNIa), cluster gas mass fractions (fgas), baryon acoustic oscillations (BAO), galaxy redshift surveys, and cosmic shear. The combination of our data with current CMB, SNIa, fgas, and BAO data yields Omega_m=0.27 +- 0.02, sigma_8=0.79 +- 0.03, and w=-0.96 +- 0.06 for flat, constant w models. For evolving w models, marginalizing over transition redshifts in the range 0.05-1, we constrain the equation of state at late and early times to be respectively w_0=-0.88 +- 0.21 and w_et=-1.05 +0.20 -0.36. The combined data provide constraints equivalent to a DETF FoM of 15.5. Our results highlight the power of X-ray studies to constrain cosmology. However, the new statistical framework we apply to this task is equally applicable to cluster studies at other wavelengths.
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