Driving a 12v DC motor

So I was trying to build an hbridge for a 12v dc motor using 2n3055's and was having issues so I decided to break it in pieces and do some testing. Attached is the circuit I tried and it doesn't do anything. Someone told me that I need a high side driver to get it to work. Am I right when I think that only 4.3V is being dropped across the motor? Would I need a base voltage of 12.7V for this to operate correctly? Could I get around using a high side driver circuit by using a darlington transistor or is it a voltage problem?

 

Just thought of something, wouldn't 12.7V make the collector base bias wrong?

 

I know it's not an H-bridge, I was having issues getting the full H-bridge working so I took it apart to see if I could get parts of it working but still no success. Since then I have figured out to get the motor the 12V I need a high side driver.

I looked up the values of hfe of the mje3055t and the specs varied greatly (between 20 and 70) for base currents under 4A (which I will be using). So when selecting the resistors that will be driving the transistors should I value them for the lowest hfe to ensure full saturation or should I shoot for an average value?