Speed controllers (ESCs) look a lot like servos to the receiver -- they take the same three-pin connector, from what I've seen. They then separately take battery power and motor connections.
There are different kinds of motors -- brushed, and brushless. Some ESCs can only drive one of them. If you're using brushed motors, make sure you use a brushed ESC!
If you wire your motors in parallel, and then connect both to an ESC, then that will likely work, as long as the sum of the current draw of both motors is less than the current capacity of your ESC.