You could also use a power window motor. Compact, high torque, 12V, fairly cheap on ebay. Replace the handlebars with a bicycle sprocket and put a sprocket on the motor, use a bicycle chain to connect the two. Just figure out how to hook up 5V drive relays to transfer power to the 12V motor and you could pretty easily use typical RC receiver/xmitter to get that sorted out. Have seen mythbusters do it like that more than once on 1:1 cars. Then you can adjust with different sprockets to get desirable torque/speed out of it.
Could probably get creative with a 1/4 scale servo for the throttle/brake. Might be iffy on the brake and require more leverage so the servo doesn't cook. I know on auto's, MB used pnuematic pistons or screw drive servos for the brakes.
Make sure to figure out a 3rd channel killswitch. The ones made for the baja would probably work as the engine on the 4 wheeler is probably similar. Hell, probably has a kill switch anyway, another relay to ping that from a 3rd channel and your good to go.
Now I want to do it! lol