You could maybe consider using a pair of
thses chips configured per the tutorial that can be
found here.
The chip itself is rated at 3.0 amps but each chip would only be driving a single coil in the motor so there should not be any problem. Additionally the chip is good for up to 50 volts so again that should not be a problem.
Additionally some sample code is provided that could be modified for your needs. The merit to using a single off the shelf chip is obviously that you are not building two H bridges from individual discrete components. Anyway, something to consider.
Ron