Have you considered getting some small geared motors with gearboxes, that spin at the right sort of speed?
You can reduce the voltage using a potential divider, either by using discrete components or a pot. This won't damage the ESC.

Resistance has a very wide range, so to read that on a multimeter you need different stages, e.g. 1 ohm, 1000 ohms, 1000000 ohms.
Plenty of information if you google it on how to use a multimeter to read resistance.
You can reduce the voltage using a potential divider, either by using discrete components or a pot. This won't damage the ESC.
Resistance has a very wide range, so to read that on a multimeter you need different stages, e.g. 1 ohm, 1000 ohms, 1000000 ohms.
Plenty of information if you google it on how to use a multimeter to read resistance.
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