How to limit motor stall current?
Yes, you could use PWM to reduce the average voltage to the motor, which will reduce the average stall current.

Depending on the inductance of the motor and the impedance of the supply and your PWM frequency, the peak current may still be >2A, which may or may not matter to your driver, depending one where its 2A limit comes from.

In real life you'll find that your drivers are undersized and you should do the job properly now.