Gimbal: controlling brushless motors without ESC

Hello!

I am working on a project - DIY motorized gimbal with Arduino. Currently I am using servo motors but they arent really quick and smooth enough for this aplication. I am looking foward to use brushless motors (only using Arduino - without ESC) in the future. I did browse around the internet for tips and ideas but I just cant find anything usable (I know what hardware I am going to use but I dont really know how to programe it). I found some very simple code examples, that I dont really think are going to work, but I also found few complicated code examples that I have no idea how they work. Is there anything in between?

Here is also a video that I made about this project (go to 1:30 to see it in action):

*I am applying to some competition with this project, where likes and views on YT also count. Please help me and hit that like button on YT.