Yes, that looks like it will work.
If you just want the vibration motors to “go” then that should be simple – you could do this from Python using the GPIO module, or from a shell script using the /sys/class/gpio files, even.
If you want to use PWM to control how fast/hard the motors go, then you’ll have to enable PWM for the GPIO pins for the Jetson, which requires configuring the output pins/modules correctly and installing a new device tree (update a dts file and build a new dtb file and flash it to the appropriate place) – there are other threads on this forum about this process, which is not entirely trivial.
You would pick four available GPIO pins on the 40-pin expansion header, and wire those to the [AB]-I[AB] pins. You would also wire GND from the 40-pin expansion header to GND on the board. Then you’d wire a sold 3.3V power supply to the VCC in on the board. You may wish to use a separate 3.3V power rail, no the one available on the 40-pin GPIO header, if your motors are at all strong/noisy, to avoid emitting motor EMI back into the Jetson module. Make sure to tie GND of your power supply to GND of the module, too (which ties GND of power and Jetson together.)
Then, screw in the motor terminals. Open the GPIO pins; set the “IA” pins to “high” (on, 1) to make them “go” and choose direction with the “IA” pins (“high” or “low”)