An ebike charger, the ones that came with the bikes, should be used to recharge the batteries.
There are safety circuits in the battery that isolate the internal cells from the outside world if they get too low in voltage, That's why you read 0 v, because nothing is connected to the discharge connector, If they have not gone too low, recharging the battery will recover it.
If recharge doesn't work, maybe these never used ebikes still have a battery warranty?