ianterry Can the Bela output a range 0-5 volts and do you think that it will work to wire the outputs directly into the electrosmith modules?
Yes, Bela can do that. The maximum output voltage is capped by your power supply's voltage, so you may not quite reach clean 5V if your power supply doesn't exceed 5V. We find that you normally get at least 4.8V. Note that the maximum input voltage tolerated is 5.5V, so not much headroom there. Also note: only the Bela cape has these analog outs, not BelaMini or any of the CTAG boards.
You may also be interested in the Pepper DIY Eurorack kit for Bela: see here (should be back in stock next week).