There are a number of threads running regarding motors etc, there also seams to be many who favour gearboxes, reduction systems to those working direct.
In my 30 years of model boat building I have come to one conclusion, gearboxes don't add value to driving my models....
I have all my models equipped with one standard drive line, its a 540 that is rewound to give the torque/speed profile I need. If you reduce the speed of a 540 then the torque rises, rises to a point where it will happily drive 70mm brass props direct moving very heavy models. I am building a Pegasus 3 now and it has 540 motors tuned for semi fast models.
Doing this motor rewinding lark is not hard, its simple, once you have a set of formula you can 'create' a motor to be what you need it to be, and for about £5 all in! I use cast of 540s motors from buggy racing! If you have a twin screw model you can wind them 'handed' they both then run forward/reverse, not one forward one reverse and standard off the shelf motors would.
On ESC they can be noisy at low speed, this is cured by disconnecting the motor from the shaft. Just use Huco coupling ends on the motor/shaft, then use 10mm silicone fuel pipe between! the tube absorbs the motor noise and corrects for bad alignment.
So here we are, my way to drive a model covers everything from heavy displacement craft through to semi fast models, silent, low power use 6v 1amp nominal each.
M