Can a H-Bridge be driven using Rasberry PI 3.3V GPIO Pin
I had a go with LT-spice to get a principle circuit. I started with two NPN transistors to get from 3V3 to 6Volts. Then I added a push-pull stage:

(The Pulse supplies simulate 3V3 GPIO pins)
The advantage is that a short from VCC direct to ground is prevented.
As mentioned MOSFET have lower Ron.
(It is now close to 1AM here, I hope I have made no make mistakes)