You can do this with any 2-channel system - using a V-tail (Delta wing elevon) mixer from an aircraft & 2 speed controllers.
The rudder control drives the rudder servo & the differential for the speed controllers & the throttle signal works both speed controllers whether they be both forwards, both backwards or one of each. (you will need some servo Y leads).
The motor direction is derived from the rudder signal + throttle signal
forward & rudder central = both motors forwards
reverse & rudder central = both motors reverses
forwards & right rudder = left motor forwards, right motor reverse
forwards & left rudder = right motor forward, left motor reverse
etc.