Yes, AS5048A will work with 3.3V.
Looking at an ESP32 pinout, it looks like 23 is MOSI, 19 is MISO, 18 is SCK, and 5 is CS. So since the example code is using those pins for I2C, that likely means the four pins labeled SDA and SCL on the Dual FOC are connected to those ESP32 pins, and it’s just a matter of sorting out which is which with a multimeter.
The real question is how they’re able to use those pins for I2C 
The ESP32 pinout looks like it only has one I2C interface on pins 21 and 22.