The relays claim they have 5 volt coils so you need to hook the DC+ to +5VDC, the DC- to GND, and the IN1 and IN2 to your cool/heat or heat/cool GPIO, whichever way you go, making sure the relay outputs go to the corresponding actors. That dual relay module is still using opto-couplers on the control inputs, and they typically will work fine using the 3.3V GPIO pins provided on ESP controllers...
Cheers!
Cheers!