Before I started designing the actual PCB, I first had to create a schematic of the desired circuit. Using KiCad's schematic builder,
I designed an H-Bridge using N and P-channel MOSFETs as well as NPN bipolar transistors. Then, I imported my schematic into KiCad's PCB designer.
For 'wires' that could carry large currents, I ensured to increase the wire width to prevent them from overheating.
The results of both the schematic and the PCB layout can be seen below.