Stepper Motor Question

Most of that is not very important, the important parts are the holding torque and how much of it you need for the use case, and the voltage and current that in your case are not the best but will work OK, just do not expect much speed from them ( or any steppers ).
If they are the 8 wire type, do use the bipolar connection to the drive, that way you will get the most out of them.
If they are 6 wire ones, you have a choice of having the full torque and less speed or less torque and more speed, using both winding for the first case and only one winding for the second case.
If you happen to have the 5 wire type, they can not be used with those drives, so do not attempt anything.

kbec wrote:

So more voltage and/or current is better? I think the drive can support up to 4.2 peak amps.I have a 30v power supply that will power 2 motors. Eventually I will have another power supply, but am focused on just getting the 2 steppers working now.

Thanks

Less voltage/ more current are better due to lower inductance, hence the possibility of spinning them faster.
30V will do just fine, but what current ?

Yes and yes.
More speed and more torque.