I found the links.

First one is a guy using the servo pcb outputs directly to the mosfets with some problems, then a guy in the coments explain him that he should use schmitt triggers.
http://letsmakerobots.com/node/20466

The second one is from the guy in the coments explaining and testing is solution. He drives a 5A motor, but it's just a matter of using bigger MOSFETS.
http://letsmakerobots.com/node/34692

It's a very simple and small DIY ESC, and you can even and an internal UBEC.

Hope this helps. I will for sure try it out when i build a more serious robot.