Getting the Arduino to talk to a picaxe through rx tx?

I was wondering how one would be able to communicate these two microcontrollers together. I've been wanting to experiment using a picaxe to control a few dc motors, and have the arduino simply give commands for the motors to simply move forwards and back. I've been searching on and off, but every time I find information on it it's just people saying "herp derp, you can totally do it!" ... aaaand never actually explain how. I found a few answers where I can send signals to the arduino, but not visa versa.

Is this actually possible, or is this an elaborate ruse to fool those new to tx rx communication D:



Also, yes, I know I could use the many motor controllers for that, but I currently lack funds. Much appreciated the earlier help though. When I get some funds I have a few I'd love to try out.

But yes, specs:

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Using Arduino Uno

Picaxe- I'm using the one found in the lets start here robot by Fritz.

DC motors-standard 3-6v models used in standard rc cars.

Plan to connect through rx tx communications to have arduino tell the picaxe to move motors.

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Thought about tricking the picaxe by making the arduino send signals through it's various pins like you would to control servos or power lights, but it would start eating too many pins if I tried to have it do more in the future.

 

Thanks for any help, you guys are always awesome!