Here are some design considerations.
1 Connecting both motors to a single ESC.
1.1 Ensure that the ESC can deliver the combined stall currents of both motors. The stall current will be considerably higher than the full load running current.
1.2 Install slow blow fuses in each motor feed between the ESC and the motor.
1.3 Install a slow blow fuse between the ESC and the battery, as close to the battery as possible.
It is unlikely that the motors will be matched, one will start before the other and likely run faster.
2 Separate ESCs
2.1 If they are fitted with BECs so that a separate radio receiver battery is not required then cut the red lead from one ESC to the receiver as the voltages will not be matched.
2.2 Install a slow blow fuse between the ESC and the battery, as close to the battery as possible. A fuse between the ESC and the motor is not required.
2.3 As it is unlikely that the motors will be matched, one will start before the other and likely run faster.
2.4 As it is unlikely that the ESCs will be matched, one motor will start before the other and likely run faster. Swapping the ESCs and motors may minimize this.
If your radio has more than 2 channels you could run a separate channel for each motor to give independent motor control.
In one of my two models with twin screws, I use two ESCs. I can use a further channel to select whether the vessel has independent control or combined control. (HMS Flirt 1898)
My other twin screw model has a home designed and built controller. Up and down on the left stick controls the power to both motors. Left and right on the left controls the balance of power between the motors. So that with the stick in the neutral position both motors are stopped. Moving the stick to the side will cause one motor to run ahead and the other astern. (USS Melvin) I built that in 1978-9, so far the only motor control fault has been a failed power transistor.
The other picture is one of my models with no propulsion motor at all.