It would depend on what sort of current the signal can produce. I think an Arduino can handle 40mA max on its pins and other things less than that. My 6V pumps need around 1A to start and 300-500mA while running from testing. Running these directly would not work.
I decided to run my pumps off a L293B chip, using digital pins only and 5V source (its the same as the beaglebone board im running it on). You just have to remember to add the diode to the motors for protection. There was a chip version of the one i chose with inbuilt diodes, but it could handle only 60% of the current.