You shouldn't. The receiver/servo's typically use 6V. It will work, but you may get limited range, brown outs, slow servo operation and premature fail safe activation if the receiver has one built in that kicks in when the voltage gets too low.
Four 1.2V cells fully charged will be near 6V, but not for every long and the voltage will drop pretty quick down below 5V, especially when under load.
I do use rechargeable nimh's in my transmitter though. The drain is minimal depending on the transmitter, so you can easily get a few hours out of 1.2V cells in that. I use
energizer recharge. They are like the enloops as they hold a charge for a long time (low self discharge [LSD]).
In my nitro trucks, I use 2/3A NiMH packs, all around 1600mah. A couple use hump packs and a couple use flat packs.
Flat:
https://www.amazon.com/Venom-1600mAh-5-Cell-Receiver-Battery/dp/B000RRQPJG
Hump:
https://www.amazon.com/Venom-1600mAh-5-Cell-Receiver-Battery/dp/B000RRQPKA
Then you need a charger specific for those. I also have a switch on all my nitro's that has a charge lead on it so I don't have to remove the pack to charge it.
One like this comes with a charger, but it's to charge over night as it's very low output:
https://www.amazon.com/Powerhobby-1600mAh-Receiver-Battery-Charger/dp/B07GH882PW
Wall chargers like that usually put out 150-300mah. If it was a 200mah output and the receiver pack was dead and rated for 1600mah, it would take 8 hours to fully charge it.
Switch with charge lead:
https://www.amazon.com/Apex-RC-Products-Pack-Spektrum/dp/B01F7R4452
Or a fancy one with a charge receptacle:
https://www.amazon.com/Apex-RC-Products-Switch-Charge/dp/B07192B34X
Or an even fancier one with a receptacle and a light:
https://www.amazon.com/Apex-RC-Products-Pack-Switch/dp/B01BQURNBQ