One way to decide it to determine the weight of the bait that you will be using, or an average wieight of many of the baits you will bet throwing. Look at the rods by MFG and see what the recommended weight range on the rods are, this will give you a good idea of what the mfg recommends for power, find something in the sweet spot, not on the upper end of weight and not on the lower.
Action really comes down to a personal choice in my opinion, and the type of line that you will use needs to be factored into the equation. Rods that will be used to throw treble hook type baits have traditionally benefited from a slower actions, moderate and moderate fast, single hook presentations traditionally have benefited from a faster action like fast or extra fast.
With squarebills and lipless I prefer something with a little more backbone and a slightly faster tip. Square bills are designed to make contact with structure and cover, when they do a slower rod like a moderate tends to absorb/dampen some of that impact and the bait does not have as much deflection and erratic action. Lipless crankbaits are often run over the tops of grass, when they contact the grass as faster action makes it much easier to rip the bait through the grass and free it.
These are some of the things I look at when choosing a rod, I generally step outside of crankbait labeled rods for these two presentations. My preference would be either a M or MH based on the weight of the baits, with a fast action and a slightly softer tip.
