as long as it is a brushed dc motor, you should be able to connect the original +/- connections to some leds, then find a way to connect the motor drive shaft to the drivetrain of the truck. As for recharging rx batteries, to start you would need some form of charge flow direction circuit, otherwise the batteries would just drive the motor.
Please note, I only have a basic knowledge on this subject so please wait for confirmation or negation of my theory.