If you are not that sure of your soldering skills, back in college when we are soldering IC's to the Circuit Board, one trick we normally do is get an alligator clip and attached it to the leg pins of the IC so that when we apply the solder to the pins, the heat of the gun will transfer to the clip and not to the IC.
Do not prolong the gun to the ESC.... see to it that the gun is hot enough to melt the lead , apply a small solder to the ESC and the tip of the Gun and also the wires... place the wire (with soldered applied on the exposed wires) then placing the wire in between your ring and middlee finger (an extra set of hand may be needed ahahha) and the lead on your index and thumb, apply heat on the the wire while slowly applying lead on the wire (esc and wire) the lead will slowly spread to the ESC poles when solder lead is melted correctly. Once you see the lead spreading to the ESC poles, you can now back down on the gun/iron.
better to practice first before you do it on your esc.....
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