Sometimes the ESC data sheet mentions how many cells the ESC supports. If you multiply that by the normal cell voltage (for that battery type) you can get the operating voltage range. Most use Li cells these days.
Here are a couple student projects from several years ago:
https://os.mbed.com/teams/41801234/wiki/Electric-Longboard
https://os.mbed.com/users/mfoster44/notebook/electric-mini-bike/
It used this ESC Amazon.com : Electric Motor Controller, 36V/48V 350W Brainpower Motor Controller for Electric Bicycle Scooter : Sports & Outdoors
Most ESCs use a servo PWM control signal, here is an example:
https://os.mbed.com/users/4180_1/notebook/using-a-dc-brushless-motor-with-an-rc-esc/