Motor Shields for Arduino

Can anyone please tell me what I need to get started for controlling motors and servos?

I was told not to use the arduino supplied 5V because it cannot handle the current from these devices.

I want to make a 2 wheel self balancing RC car and I am guessing I need to use two power supplies, one for the motors and one for the arduino?

If I input a 8V AA Battery Pack into the Vin on the arduino can I use just one power supply?

Also,

I have a STI-L293D IC that can control 2 motors, but I saw on adafruit a shield for motors and servos. Would it be a good idea to buy it as my projects get more complex? Or can I get by with the L293D

Thanks for your input!