Funny things, voltage regulators. A typical 7805 needs maybe a couple of volts headroom to work in, but dropping down into this headroom does not stop it working. It still tries to stabilise, but at whatever the supply is less a variable bit. It is surprising how low the voltage supplied to the RX and servos can go and still have them working. The important thing is that the voltage is reasonably stable, as the timing components in the electronicery do rely for stable operation on the supply voltage not fluctuating greatly.
If using a 6V SLA I would not use a BEC as such because the model radio control gear was designed around using this in the first place.
Using a 6 cell NiCad pack I would use the BEC as this is a bit near the top rated voltage for the chips in the RX & Servos, and very definately with 12 volts.
Should I want to use several servos or other bits n pieces I would probably use external BECs, but a separate RX battery is a very valid option.