The voltage just has to some amount over 6 volts, or since a typical 3 cell battery is really 6.6 volts, you'd need 6.6 volts to top off the battery. The initial voltage on a drained battery would be less, so you'd need less voltage, but as it approached full charge, you'd have to keep increasing voltage to just exceed that of the battery.
Most batteries include an capacity rating, but the actual capacity varies with the load (or charge rate). AA nicads for radio control models typically have about 1.1AmpHour capacity. AA nimh batteries hold about 1.7 AmpHours. LiPoly batteries are even better in terms of capacity versus weight, but usually come in flat packs, and are combined both in series and/or in parallel in a pack to increase current output (parallel) and voltage ouptut (series). Nicads, Nimh, LiPoly, and typical dry cell batteries work best when cold. Lead-acid batteries work best when fairly warm.