I assume that it is 2 phase bipolar motor with 4 wires, right?
If so, a quad half-bridge driver is what you are looking for, like SN754410, which can handle 1A.
Or you can do the same thing (but limited to 800mA) with 4 2N2222 and 4 2N2905 eight diodes and 4 resistors for less money!
Bob