Do you require:
1) Direction control. Clockwise/Counter clockwise (forward/reverse) rotation of the motor
2) Variable Speed control
3) Speed monitoring thorugh BEMF feedback
4) Braking, when you stop the motor, should it coast or have instant braking
You did not list the operating current for your motors, which is just as important as the voltage.
google "Arduino motor" it will give many sites with "how to examples"
Check out Michael Simpson's experiences and steps to prevent harming your electronics
the L293D motor driver or equivalent will probably meet your needs.