I am assuming that you are using full H bridge? Run your 555 at twice the frequency required. Use the output from this into a flip flop. Now you have two square waves exactly out of phase.
Remember, you must take great care that there is some way to stop the wrong transistors conducting at the same time. Imagine, the top Lh. and bottom Rh transistors are both on. If either of the other two transistors conduct then there will be a direct short circuit across the Vcc line, which will burn out a pair of transistors. The easiest way to do this is to connect a diode as a gate from the collector of the bottom transistor to the drive of the "other side" transistor (for both transistors). So if one transistor is still conducting (Vce = .2V?), it sucks the drive from the other side so that transistor cannot conduct at the same time.
Frank
Frank