Got to go with the full H bridge. You're faking it now with a couple of resistors, that's the problem. You would replace R5 and R6 with drivers.
One sneaky way to do it might be to use P-channel MOSFETS. Put one in place of R5 with the gate hooked directly to Vcontrol1, the other on the other side the same way. Now when Vcontrol1 goes high, the 2N2222 is on, but the P channel mosfet is at -1.7V from the 5V rail, not enough to turn on. When Vcontrol1 goes low, the 2N2222 is off, but the mosfet gate is at -5V and turns on.
Ain't a real classy design, but it should cut that current down to .2A, and takes care of the "shoot through" logic you need for an H-bridge on a micro.