I've been searching this very thing this afternoon.
What I came up with is divide watts of motor by supply voltage equals esc amps, then add 10-15% for safety.
In my case it was 7.4volts / 102watts = 13 and a bit amps, so a 20amp esc would suffice.
But I do have to say having read many pages and viewed a dozen youtube vids, there are any number of ways to do it, none of them seem to be the de facto method to use.