I have 3 cables (blue,green,yellow) from my ESC to my motor. However I’m confused whether the voltage it provides is AC or DC. Does the nature of the voltage have anything to do with the kind of motor used?
The voltage is more like AC than DC. The waveform is composed of positive and negative pulses. It will be some version of the following:
With regard to the kind of motor used, all types of brushless motors would have a voltage waveform of the type shown as the output of the ESC and terminal to terminal voltage of the motor windings. For motors with an ESC integrated into the motor housing, the motor winding voltage would be seen only inside the motor.
A DC motor with a commutator and brushes would have DC or pulsed DC at the brushes. The voltage across the rotor windings would be DC, but a part of the windings switch polarity as different commutator segments engage the brushes.