Because of its use in the automotive industry post WW2, 12 volts has become a standard for batteries and things that they power. The two sides feed on each other. Different battery chemistries give different voltages per cell. With dry batteries, NiCads and Pb batteries, 6 and 12 could easily be hit. When the usefulness of NiCad became practical, 6 of C cells in one pack ([email protected]=7.2v) was very convenient, and, for a lot of uses, became the norm.
A lot of battery specifications mention a figure for "Watt-hours per kilogram". Whatever the voltage, a given battery of a stated size will hold just so much power. Lead acid is near the bottom of the pile, but in many applications this is unimportant. In a heavy boat that is not a speedster, it does the job very well and is easy to look after.
Any RC boat needs a lower voltage supply to power the radio which could be a separate battery of the right voltage or derived via a BEC, either one integrated into the ESC or a separate one. There might be some separate ones available to derive 3 volts for your lights from whatever voltage you use, but beware of the current if using filament lamps – they are thirsty.
While you can run 12 volt motors on 7.2 volts (albeit with a performance drop) you can't go the other way without risking the motor which might not be able to handle the extra power that it will take.