I know nothing about your motors so can not, intelligently, recommend any driver. Pololu has a great line of modern and efficient motor drivers. Pololu has good instructional pages for each of their products. Choose a driver based on the motor supply voltage and the stall current. The stall current should be listed on the motor data sheet.
The same applies to the battery. I do not know enough to just say, get this battery. You need to analyze the system to see what voltage and amp hour capacity that you need. How much average current over time does the car use? How long between battery charges/changes? What voltage(s) are required?