RE: Futaba MC 9100A ESC
That's correct, practically all modern equipment have through plated holes. The soldering iron has to be at least 50W and the tip should be fairly short and wide to carry the temperature over. Another trick is to use a heat gun to pre heat the board to some 100 degrees C before soldering but usually that is not necessary. It may even be a bit dangerous if the heat gun does not have accurate temperature control.