You can get 7.2v NiMH batteries in a couple of odd shapes and sizes.
Take for example this one:
http://www.componentshop.co.uk/7-2v-3300mah-sc-nimh-battery-pack.htmlA 3000mah battery pack, so technically at 7.2v you can draw 3.0 Amps from your battery for an hour. Obviously in the real world, you probably won't get this unless all your running gear is very efficient, or say you take it easy and draw less than 3.0Amps.
The higher the Mah of a battery, the longer it will last. If you have a 6000mah battery, and still draw 3 Amps, you can techincally get 2 hours of running. Make sense?
I don't think you would need to worry about running in series with a 7.2v motor. Series just means that you wire another battery directly in line with another. So the red wire from your ESC goes to the 1st batteries red wire. the black wire from this battery goes to the red wire of the second battery, and the black wire of the second battery goes to the black wire of the ESC. If you were using two 7.2v batteries, this would give you 14.4v, which is far far too high for what you want! Wiring in series keeps the Mah the same
Running in parallel means literally connecting the red wires to the red wires, and black to black. This increases your Mah, so two 3000mah batteries would give you 6000mah. Some people seem to recommend avoiding wiring in parallel like this, never tried it myself! Wiring in Parallel keeps the voltage the same however.
I hope this helps, if not, give us a shout and I'll try and explain it different. Once you get your head round it, it seems simple!
Steven