My circuit was designed to use low gain power transistors and supplies 3A of current. The 33 ohm resistors dissipate 3W so should be 5W wire-wound type.I finally wired up this circuit. And of course it's not working quite right.
For the NPN, I got a MMBT2222A. The PNP is a MMBT2907A. Transistors are SOT23, all my resistors are 0805 package.
Circuit powers up and outputs are right. Only problem is that the 33 ohm resistor starts smoking.
Transistors have a gain of 100. The load is in the 100-200 mA. So if I run 2-4 mA through the control side (33 ohm), that should saturate the transistors. 10 volts / .004 amps = 2.5 k ohm.
Transistors need a base current of 1/10th the collector current to saturate well. (Current gain is used for linear amplifiers that have plenty of collector to emitter voltage that disappears when a transistor is saturated.)
Your collector current is up to 200mA so the 33 ohm resistors should be 500 ohms, use 470 ohms. Then the base current is 21mA. Their power dissipation is 0.2W so your little surface-mount resistors are too small.
I think you should make the H-bridge with low loss and no input current Mosfets.