please tell me anything wrong "10A H-Bridge Motor Controller" posted above
Assuming it is designed well, probably nothing (though looking at the schematic, I did notice there was nothing to prevent "shoot-thru" - and no "flyback" diodes to protect the transistors).
The main problem with it is that it is only a 10A h-bridge - whereas your motors can pull a maximum of 9.5A; that's much too close to the "edge" of the maximum - you want to give yourself a 15-25% margin if you can (so you really want something like a 12-15A h-bridge).
That said - if you can find complementary transistor pairs (NPN/PNP) with the proper power handling (whatever you do, don't try to parallel BJT transistors - it won't work) - then you could use it. You'd probably be better off building an all n-channel MOSFET design with a high-side driver IC. Just realize that designing and building h-bridges isn't as easy as some of these internet designs make it to be; but, at the relatively low-amperage levels you are looking at, at least the mosfets will be cheap (expect to blow at least a few).