The motors look like they are 6 wire which indicates they are 'bipolar' and they are 200 step, which is good for CNC use.
Just about any of the cheap 'Made in China' 3 axis, bipolar driver boards (advertised on ebay) should be OK for your needs.
Stepper motors are usually driven at 5 or so times there rated voltage but their rated current must never be exceeded. (the 3 axis driver boards usually have current adjustment so you can match the drive to the motor).
Your PSU will be just fine at 24 Volts (which is pretty much the usual voltage to use).