Can I Run 2 Motors with 1 Vesc?

The short answer is No. You technically need 1 Vesc per motor you plan to use on your build. So a dual motor set up would require 2 Vescs or a Dual Vesc. 

If you aren't planning on using a Vesc based ESC, you'll still need to use a Dual ESC if you plan on using 2 motors.