If your motors are rated 9-30v then they won’t be much good on 6v! 12v would seem to be a much better bet. 1 amp seems to be a very low draw and may refer to no load current, in reality it could be quite a bit higher when the model is underway. As in all these situations it’s a bit of a ‘suck it and see’ situation. You really need to get a motor, shaft and prop installed and see what the current draw actually is. As far as an ESC is concerned it will depend on how many motors you expect it to control. If you want decent handling then you will need the port and starboard motors to be capable of operating independently in which case the ESC needs to be able to handle the total amperage of two motors at maximum revs.
Battery capacity needs to be matched to the overall current draw. If you are using lead acid cells then the practical battery capacity is 50% of the nominal rating, So, for example, if each of your motors draws 3 amps at max revs then you will need a total nominal battery capacity of 24 amps to give one hour’s running at full speed. In practice of course you will not travel at this rate all the time so running time will be extended. Lead acid batteries don’t much like being depleted below 50% of their capacity which can result in long term damage.
It is all just logic in the end!
Colin