"In that situation we're not completely absolved of fear," Decker said. "We're like, 'Oh Lord, protect us, keep us right now.' And in that situation God did, but when you go through those there are always moments you can look back on and say, you know, 'If God got us through that we can get through the next thing.'"
Dangerous encounters lead them to have more faith, Scott said, but not to take "unnecessary risk."
"We're wise as a serpent, gentle as a dove," he said. "So when we get out there, you learn certain things like being streetwise. How to move inside certain countries and you take faith in doing it."
Recently, one of their adventures created controversy. They embedded with the U.S. Army in Afghanistan, which an independent watchdog group, the Military Religious Freedom Foundation, said was a violation of the military's own rules.
Mikey Weinstein, the founder and president of the group, said there is a "complete prohibition of the proselytizing of any religion faith or practice" in Iraq and Afghanistan.
"You see them wearing American helmets. It is obvious they were completely embedded," he said.
When ABC News contacted the Army in Afghanistan, it said it no longer have the records of the evangelicals' embed, which took place more than four years ago. The missionaries said they weren't accompanied by soldiers when they handed out Bibles, but Decker and Scott said the military was aware of the purpose of their trip.
"It wasn't like we were hiding in the back saying we're going to preach," Scott said. "They knew what we were doing. We told them that we were born again Christians, we're here doing ministry, we shoot for this TV station and we want to embed and see what it was like.
"We were interviewing the chaplains and we talked to them. We spoke at the services and things like that. So we did do our mission being over there as far as being able to document what the soldiers go through, what it's like in Afghanistan," he said. "So I could say that we were on a secular mission as well as far as documenting. I would say we were news reporters as well, we were delivering news of what was actually happening there, but we were also there to document the Christian side."
He added that as Christian journalists they should have the same rights as other networks, and that the military didn't facilitate their actions or preaching.
"If, for example, if I wasn't allowed on base I would feel like my freedoms were being restricted. Just because we were Christians and I am documenting for a Christian reality TV series, that I should have the same right?" Scott said. "That's like saying I'm not going to let al-Jazeera report anything because their reporter is very religious."
Weinstein, however, charges that simply by having missionaries walking amongst the troops presents a national security threat. The U.S. Army might be viewed by local Afghanis as a Christian army, he says, inciting suspicion and possibly violence from those who view that as a threat to Islam. "That is what our fight is about," Weinstein says. "It's wrong and this is something that is emboldening our enemy and it is killing and maiming our American Military and it has to stop."
There are also larger concerns about Scott and Decker's work. Critics say when missionaries evangelize to remote tribal groups, they risk destroying ancient cultures.