I do not find it being useful to get someone's schematic and PCB. I post some sample from an ESC I made some time ago.
The PIC (16F690 - but any PIC with ECCP can be used) is configured in full bridge for N-channel only mosfets. It can be done also for P+N channel mosfets.
The schematic below is powered at 6V, thus the voltage boost LM2735 to go to about 10V (needed for the High side N channel mosfet).
I'd suggest you open a new thread, or at least put here your requirements (V, I and location of the PCB as you will need to design one to match your available space there).