Both players agreed to terms shortly before the noon CT deadline for exchanging salary figures with the club, thereby avoiding the arbitration process and the possibility of a hearing.
Estrada reportedly signed for $3.325 million, up from the $1.955 million he earned last year. Francisco's salary is reported to be $1.35 million; he made $496,250 in 2013. Both also received performance-bonus provisions.
This was Estrada's second time of arbitration-eligibility. Last year he made 21 starts, going 7-4 with a 3.87 ERA, but missed about two months because of back and hamstring injuries.
Francisco, acquired from the Braves last June to play first base, had a combined average of .227 for the two teams with 18 home runs, 48 RBIs and 138 strikeouts in 348 at-bats. After joining the Brewers, he hit .221.
Dick Kaegel is a reporter for MLB.com. This story was not subject to the approval of Major League Baseball or its clubs.