Or even simpler two 2N2222 transistors and 2 diodes. Use base resistors in the range 150 to 390 ohms (not critical) and a 2N2222 will happily drive 100mA load.
Other small switching BJTs are available.
Don't omit the free-wheel diode across the load. The circuit for relay/solenoid driving isn't hard to search for.
The darlington motor drivers like L293 and L298 drop lots of volts in operation and doesn't seem appropriate here.