Good advice from charlesk there. I have done loads, good hot decent size tip, well tinned and extra solder on the tip should reflow the solder on the ESC easily to allow you to pull the wire straight off.
Do not cut the wire short before desoldering as it is good to have a decent bit to hold onto and pull away from the joint.
Once the wire is off, I would clean out the ESC solder pots with a desoldering sucker or braid so that you resolder the wires back with fresh solder with new flux in it.
Then make sure the new wire is properly tinned all the way through, run the iron all around the wire so it is nice and shiny, re tin the ESC and then solder the wire back in.
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