Short answer, Yes it can be done.I have seen submarines( Seaview Flying sub) successfully powered by small bilge pumps.Two things to bear in mind though. Bilge pumps tend to use rather high current draw motors so the ESC needs to be similarly designed. Likewise, they can require good size batteries for any long term running. Lastly, the motors ted to be noisy, ie, EMF noise. Therefore they should be fitted with appropriate capacitors, even if you are using a 2.4 ghz radio because your neighbor may still be using a low frequency, 27, 40, 72,75 mhz radio. Depends on the country you are in...