There is a wealth of stuff on the Internet about this.
Briefly:
Contra-rotating is better than two running in the same direction;
You will need one of each RH and LH for that.
The props turn thus – Stbd Clockwise; Port Anticlockwise – both when viewed from the stern.
Yes, you can use one ESC. Wire the motors in parallel; if they both rotate in the same direction then reverse the two wires to the ESC on one of them.
If you need more info then go looking – it's a subject which is very widely covered in the minutest detail, so I'm not going to enter into any further debate about it.
Dave M