ESP01 to DC Motor powered via Battery with Power Regulator
It's not clear what you mean with "adapter to regulate voltage".

Typically, one would use some form of driver.

The TB6612FNG, for example, comes on PCB, both as standalone and with additional chip with I2C interface, like this one: https://wiki.wemos.cc/products:d1_mini_shields:motor_shield

It is very convenient if you need to use multiple motors, as you can have several configurabe I2C addresses, and each driver has 2 channels.