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You should check out the "Whitepapers" section here on ChiefDelphi.com. In particular, you'll be intrested in: "FIRST Motors, Etc. (spreadsheet) by Joe Johnson."
From the spreadsheet:
Motor Only:
Stall Torque: .21 N-m
Stall Current: 21 A
Free Speed: 11,500 RPM
Free Current: .82 A
Peak Power: 63 W
Motor with Gearbox (117:1, 77% Efficiency):
Stall Torque: 19 N-m
Stall Current: 21 A
Free Speed: 100 RPM
Free Current: .82 A
Peak Power: 50 W
The motors run off of the 12V from the robot, and are controlled with the "Victor Speed Controllers" via Pulse Width Modulation. Hope this helps!
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