A dual-drive co-rotating scroll device includes a housing; a first scroll rotatably mounted within the housing via a first cylindrical extension and a first plurality of bearings, and having a first axis of rotation; and a second scroll rotatably mounted within the housing via a second cylindrical extension and a second plurality of bearings, and having a second axis of rotation different than the first axis of rotation. At least one of the first cylindrical extension and the second cylindrical extension may comprise a plurality of permanent magnets and operate as a rotor of a first motor. An Oldham ring may be positioned between the first scroll and the second scroll and configured to maintain a relative angular position between the first scroll and the second scroll.