Those props should give you about 1.5 mph for every 1000RPM shaft speed.
So if you put in your intended speed, lets say 4mph (brisk walking pace, which I think is about right for a boat like this) divide by 1.5 equals 2.66 multiply by a 1000= 2666RPM shaft speed.
Now that gives you a rough estimate, because other factors will influence the performance of the boat e.g. hull shape, prop ventilation when near the surface etc. Also bear in mind that the motors need to be powerful enough to pull the prop round at that shaft speed. The only real accurate way to measure that is have an onboard logger (e.g. eagletree), but many modellers don't want the expense and complication of fitting one.
However the above method gives you a guideline. Even with the best calculations, computer simulations etc. things have to be tried out.
The easiest and most accurate way to find out is if you know of someone who has the same boat that achieves the performance you desire, and ask what they have done to achieve it. However this isn't always possible.