How much charging current is available and how quickly does it "need" to be charged? The one thing in particular that you should not do is try to charge them based on voltage control alone.
At a minimum you need a charge voltage above 1.45V per cell. Depending on the use pattern, if you have a lot of time you can wait for them to charge yet wouldn't leave them charging indefinitely, you could select a suitable series resistor to a trickle charge level, to drop current to approximately (mAh rated Capacity) C/15. Some will say even C/10, or even lower like C/30+ if it will sit charging for days at a time. This is cheap and easy, but also one of the major causes for complaints among owners of NiCd powered products in past years, that charging either took too long or it cooked the batteries, shortening their lifespan too much because the only charge termination is when the user unplugs it.
Along came dumb timer based circuits, a better approach but one with no consideration for how charged the battery was when the charge period started, so could easily still overcharge cells or fail to fully charge them.
Otherwise for safe faster charging you'll want a smart IC based charge control circuit and that will have its own inherent spec for forward voltage drop or minimum required input voltage to achieve 1.45 or higher output per cell in series. For example the control circuit might need 1.5V overhead so could need at least (1.5 + 2 * 1.45 = ) 4.4V input to charge two NiCd cells in series. While making such a circuit from scratch used to be a significant project, today you can probably pick up a bare board off eBay to do this for around $3 delivered from China.
I wouldn't worry too much about discharging too low and then reverse charging the weakest cell on a circuit that only has two *identical* NiCd cells in series. A purely resistive circuit could harm the weaker of the two cells but most circuits would cease to draw enough current to matter if they worked at all once one cell reached 0V and the other was getting close to that too.