Nigel,
Every servo contains a tiny ESC, and the smaller the servo the smaller the esc - how about 5mm square and fractions of a gm?
There are disadvantges of using them, but they are readily available and WILL do the job. I have used them with all types of motor up to 385s with success.
There are many sites detailing how to replace the "pot" with either 2 fixed 2.5K resistors or (as I do) a 5K trimmer pot salvaged out of equipment.
Don't know if this will fill your requirement - but it does tick the small box

andrew