Does anyone know how I can connect an esp32 with a l293d - HW-130 to control the rotation of a dc motor? if possible give me the connections, thanks to all.
Do yourself a favor and use one of the modern MOSFET motor drivers, not that power hungry dinosaur.
Are you using bare chip (Fig-1) or a L293D based Motor Driver (FIg-2)?

Figure-1:

Figure-2:
Figure-2, can you help me?
Motor Driver of Fig-2 of post #3 uses a lot of IO lines. Basically, this Motor Driver and the following one (Fig-1) are the same; but, the later uses less IO lnes and is simpler to operate. Anyway, in either case, you will need a level shifter (Fig-2) to interface 3.3v logic of ESP32 with 5V logic of Motor Driver.

Figure-1: L298 based Motor Driver

Figure-2: Level Shifter
What is the rating of your DC Motor? Is it 0 - 12V or 0 - 5V/6V Motor. If possible, post the picture of the Motor. How many Motors you will be driving?
Are you using 30-pin ESP32 Dev Board?
Thank you, my friend