Three New Hampshire men face federal kidnapping charges for allegedly taking two Lawrence men into custody at gunpoint, driving them blindfolded across state lines, and beating them before one of the men escaped, authorities said Tuesday.

The suspects, all with histories of violent crime, face up to life in federal prison if convicted of charges of conspiracy to commit kidnapping, authorities said in US District Court in Boston, where the men made brief appearances on Tuesday.

The three men are Henry Maldonado, 38, of Manchester, N.H., Thomas D. Wallace, 23, and Jose Guzman, 41. Wallace and Guzman gave various addresses in New Hampshire.

All three are being held without bail until a detention hearing can be held Monday. Prosecutors have said they have violent histories and are a risk of a danger to the public.

The three men were arrested Tuesday after authorities descended upon Maldonado’s home in Manchester. When the alleged kidnappers went to sleep Monday night, one of their victims was able to escape and get to a neighbor’s home, where he notified police. A second victim was safely rescued after a brief standoff outside Maldonado’s home.

Authorities did not identify the victims but said they were known to their alleged kidnappers and that the incident was not random.

The victims told FBI agents that they arrived in a car at one of their homes in Lawrence on Monday night when they were surrounded by several men wearing police gear, showing badges, and yelling at them that they were police.

The victims said they were bound with ties and escorted into a white van at gunpoint and had hoods pulled over their heads. After a 40-minute drive, they were brought to a home where the alleged kidnappers asked them for money, said they were looking for a man named “Nene,” and that they had a “contract” out for his kidnapping. The alleged victims denied they were Nene or that they had money. One of the victims said at one point, “he was put on the phone with an individual not known to him who threatened to kill him,” FBI Special Agent John Orlando said in an affidavit.