What type of ESCs? Normally they just do as the RX tells them, and, as Dave said, no signal, no output. In turn, the RX can only do what it thinks the TX has told it, no signal in, no signal out. Did the problem just happen with the TX on a low battery, when all bets are off regarding signal integrity, or with it actually switched off?
There are modern sets that I have heard of that are intended for air use which have extra cleverness built in such that a loss of signal turns the motor off ie stick fully back, when in a boat this is a disaster, because stick fully back is full reverse. But that is not likely in this case.