Multiple motors with ESP32/8266

Hey there, 

I'm seeking a way to drive 4 or 6 motors with a single ESP, be it 32 or 8266. 
The idea is to remotely dispense liquids with 12v peristaltic pumps via mqtt. 

A while ago I've ordered some tb6612fng with the plan to eventually try and set PWM to logical high (not at all sure if this could actually work), and use just 4 wires per driver, that way controlling at least 4 motors. While I'm waiting for them to arrive, I've started searching for some guides or just about anything that might ease the task, but it seems these are mainly used with arduinos. I'm not sure if these drivers are best choice for these boards, and I couldn't find any reasonable or obvious incompatibility. I don't have much experience with those, and I could definitely be missing something. 

If the abovementioned scenario is not possible, perhaps PCA9685 could do the trick? Totally unknown territory, so any advice would be greatly appreciated.