The ULN2003A has a built in base resistor of 2K7. Use two inputs and outputs in parallel. For max possible saturation apply +5V directly to the inputs.
As audioguru already mentioned the voltage loss will be 1.6V (darlington), but still enough voltage to drive the motor.
Don't forget to connect the free wheeling diodes (pin9) to +5V. The motor is an inductive load.
There is no schematic necessary if you connect the motor like this: pins1 and 2 and 9 --> +5V (control input), first motor connection --> pins 15 and 16, second motor connection --> +5V