Your question is unclear.
First, ESC means Electronic Speed Control. It is not a motor type.
So, do you have an ESC, or a Brushless DC motor, or both?
I guess from your picture that you have an ESC, and want to control it from a PIC.
Usually, these ESCs, if intended for the hobby/radio control market, respond to a standard servo PWM signal. So, send a 50Hz signal with a pulse width of from 1ms to 2ms for zero to full speed.
If that seems wrong, check the datasheet for the part that you have.