http://www.instructables.com/id/Inte...rolled-RC-Car/

I don't think you will get anything plug n play. But there is a lot that an arduino controller can do. You can communicate via Bluetooth (example above was wifi) and they have relay setups that you can use to control your 5v motors. You would probably want to set it up with tank style steering to start with.

Parralax has some similar controller and kits that you could adapt pretty easily for what your looking for.