Solved it! One has to call the designated initializer which in this case is the init with nibName, obviously ...

init(leftVC:UIViewController, rightVC:UIViewController, gap:Int)
{
    self.leftVC = leftVC
    self.rightVC = rightVC
    self.gap = gap

    super.init(nibName: nil, bundle: nil)

    setupScrollView()
    setupViewControllers()
}

For a more generic UIViewController you can use this as of Swift 2.0

init() {
    super.init(nibName: nil, bundle: nil)
}

Swift 5

If you want to write custom initializer to UIViewController which is initialized with storyBoard.instantiateViewController(withIdentifier: "ViewControllerIdentifier")

You can write custom initializer for only Optional properties.

class MyFooClass: UIViewController {
    var foo: Foo?

    init(with foo: Foo) {
        self.foo = foo
        super.init(nibName: nil, bundle: nil)
    }

    public required init?(coder aDecoder: NSCoder) {
        super.init(coder: aDecoder)
        self.foo = nil
    }
}