I am working on a Quadcopter, and I need ~10v to run through these motors, the Raspberry Pi only does 3.3v through it's gpio. I don't want to fry my board but I wanna know how to control the flow of the 10v with a raspberry pi. Do I use a transistor or what?
Yes, you use a transistor.
Just like driving a relay.
There are dozens of threads here about driving motors and relays that way
If you have to drive more than one often an IC with multiple drivers is often used, like the ULN 2007 .