you can get a little bit of bass from 6.5's, but it's near-impossible to really do a complete stereo without more cone area. two additional 6.5's or a single 8" would be a decent start, two 8's or a 10, even better. ideally, i think one twelve can really sound great. i run one ID12 right now (sealed box, in a trunk, but with empty rear speaker holes) and it's more than enough bass without overpowering my comps. 350w output for the rear, 125x2 for the fronts. though i doubt the fronts have seen nearly that much power and the sub (rated 250wrms) isn't going full-tilt.
the reason two 6.5's don't cut it is just lack of displacement. if you full range them, they're going to bottom out on notes in the 20-40hz region. i won't cross my comps any lower than 50-60hz or so, any lower is speaker suicide. they've got big motors and enough power to play themselves to death, and you still wouldn't be hearing much bass.
a decent 10" sub is going to have more area than two 6.5" speakers (which will be busy playing 60-70hz and up) and a lot more throw (xmax), which will greatly help in playing lower frequencies. remember, lower frequency always means more air will need to be moved. to, say, play a 20hz tone as loud as a 60hz tone, a speaker will need to excurt three times as far.
also remember that door speaker installation and tweeter placement is one of the most critical things in a good sounding install. if you want to get decent bass from your 6.5's at all (punchy midbass will help keep the illusion of all the bass being up front, <100hz being pretty omnidirectional because of the length of the sound waves), make sure the door is sealed up fairly well (though don't block the drain holes) and heavily deadened. the tweeters should be on roughly the same plane- if the speakers point straight across, it often sounds best to have the tweeters point straight across, also. though they can be aimed right at you if they're not too harsh. aiming toward the windshield is a no-no.