First up, set the car on a stand or base so the wheels are off the surface. Or just remove the wheels altogether.
Turn the radio and the car on in that order, making sure the throttle trim knob is at the center or zero position before powering on the radio. In fact, always make sure throttle trim is at zero when powering on the radio. Then press and hold the set button on the ESC until the light blinks green, orange, then back to a flashing red. Release the button. Pull the trigger on the remote all the way back as if to go forward with the car and hold at full throttle. Press the set button. It should then be two flashing red blinks. Hold the trigger full reverse and press the set button. The light should go out. Power off the car, then the radio.
Your ESC is now calibrated.