Double check your wiring, and make sure only one side of the H bridge is on at a time.
That circuit will not work as it stands and may damage the lower transistor because there is no resistor to limit the base current. Put a 100 ohm resistor in series with the base of the upper transistor, and a 470 ohm resistor in series with the base of the lower transistor. Increase both the power supply voltage and the drive voltage to 5V. That will give you about 3V or 3.5V across the load.