The following example developed for PSoC 6 can be used for reference for interfacing with MPU6050: MPU6050 PSoC6 Interface - Hackster.io . It has the driver files necessary to get you started.
PSoC won't be able to provide sufficient voltage to drive the motors considering that they need to driven at high RPMs. Hence using a motor driver would be a better choice. To answer your question, you can connect them directly to PSoC, but the motor might run slow due to insuffecient voltage. You can find help on interfacing the motor here.
I2C Component Guide: https://www.cypress.com/file/175671/download
- Sam's Blog : Getting started with MPU-6050 IMU
- Sam's Blog : Getting Roll, Pitch and Yaw from MPU-6050