In an exemplary embodiment, a transmission outputs power from two high-speed, high-powered motor/generators into two coaxial output shafts for left and right wheels of a vehicle. Embodiments of the invention provide for a transmission that is coaxially mounted with the output shafts and the two motor/generators, which allows for a space-saving design. The transmission provides at least two degrees of freedom such that torque to each of the left any right wheels of driveshaft can be separately controlled by controlling the input/output of each of the motor/generators. The transmission may include two differential units to allow a significant gear reduction such that motor/generators that require high output speeds may be used.