Single-supply amplifier design without output capacitor?
Figure 1. A typical bridge mode configuration.

Bridge mode amplifiers are popular in car audio systems. The output of each amplifier is biased to half-supply. (Since both sides of the speaker are at the same voltage in the quiescent state, no current will flow through the speaker.) One amplifier is fed directly with the signal while the other is driven with an inverted version. The output then "see-saws" about the mid-supply voltage.