You need an RC electronic brushless speed controller. This has a 3 pin input which connects to where you would plug a servo. There are 3 output wires which go to the motor. Another 2 wires go to the power source. The speed of the motor is proportional to the pulse width input.If the motor runs the wrong way, reverse 2 of the wires. The ESC come in various current ratings to suit your motor.
I am going to use the same idea for light milling. Not sure what software is required to create milling or drilling or plotting commands.