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The most important thing to consider about using gear is your skills in making a gear box. Usually, when you are using gears meshing with each other, you can only have a 0.001 error, maybe even less than that in order to make the gear box work.
With only drill press, or even a mill without digital read out, I fear you may not have the necessary skills and tools to fabricate a good enough gear box. That's why a lot of teams use chains, so they can tention the chain without making the whole drive system as accurate as a gear box.
If you have the resource and knowledge to make gears work, then by all means do it. Else, chain will work fine too.
As for the speed of motors... They are really about setting up a correct ratio, and both chain and gears will work for that.
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Hardware Test Engineer supporting RE<C, Google.
1999-2001: Team 192 Gunn Robotics Team
2001-2002: Team 100, 192, 258, 419
2002-2004: Western Region Robotics Forum, Score Keeper @ Sac, Az, SVR, SC, CE, IRI, CalGames
2003-2004, 2006-2007: California Robot Games Manager
2008: MC in training @ Sac, CalGames
2009: Master of Ceremony @ Sac, CalGames
2010: GA in training @ SVR, Sac.
2010-2011: Mechanical Mentor, Team 115 MVRT
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