More info required:
Are they low esr & rated for 105*C?
It should say on the cap, or there will be a part number that you can look up on digikey or radioshack:
http://dkc1.digikey.com/us/digihome.html
As for wiring them up, just solder the + leg to the + power wire, and the - to the - power wire (battery wires) as close to the esc as possible. You may have to make some little flyleads for them if the legs are too short to reach both wires and be soldered in place securely.