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Originally Posted by Cory
Check out team 716's whitepaper. Theirs looks to be really simple
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I would suggest the 2003 Single Speed if you are looking to add dual motor capability. This gearbox was also run this year by Team 228 with just the CIM motors. The Bosch's can be run by themselves and the TechnoKats have several designs that can be adapted to shift with a servo.
716's 2004 Dual Speed can be built in a week with a manual lathe and miller. I did not realize how many pieces there are until I did the paper!
Dave Lavery's shifting transmission can also be built with manual machines.
You might want to check on Joe Johnson's
hints 
about the DeWalt gearboxes.
Bottom line, you can build a transmission with a drill press but it would much easier if you had a lathe and mill.