DIY Robot + CIMs?

[MikefromMI]

I've been doing robotics for a few years at my school and was looking to build my own bot in my free time. I was looking at the AndyMark Cheap & Dirty Electronics Kit (for 2 or 4 motors), which you can find here http://www.andymark.com/product-p/am-2493.htm. I'm still fairly new to robotics and wiring so was curious about a few things. Can standard CIM motors be run safely by the 40A Waterproof ESC with Reverse (http://www.andymark.com/product-p/am-2521.htm) found in the kit? If anyone has any better ideas or suggestions on how to make a cheap drive train please let me know!