if you are using radio control which I presume you will, most sets these days have a polarity switch on them for each channel to reverse the way a servo or motor runs.
The easiest way is to set up your system as shown in the instructions in your speed controller paperwork, and once all set up just turn the polarity switches so that on forward motion of the boat in the water, your starboard prop turns clockwise and the port prop turns anti clockwise.
If your system doesn’t have the little switches on THE TRANSMITTER it is simply, switch the leads to the motors from the speed controllers the engines turn the way you want.
NEVER SWITCH THE LEADS FROM THE SPEED CONTROLLERS TO THE BATTERY TO SWITCH THE DIRECTION OF THE MOTORS……………….YOU’LL DESTROY THE SPEED CONTROLLER.