chiruanku:
I am using a 9V battery...
Would that be a 9volt smake alarm battery?
Then no. They can't provide the current for motors. At least not for long.
And yes, it is wise to use a ~12volt supply for 9volt motors if you want them to run at full speed.
Because the ancient/inefficient L293D drops/looses about 2-4volt in H-bridge mode.
Leo..
Edit: All the shields/modules mentioned by daysleeper use the L293D and L298 motor drivers.
Both chips are ancient/inefficient. Not wise if you have to use battery power.
Stores like Adafruit have long ago replaced that v1 L293 shield with a v2 that uses TB6612 mosfet drivers.