Hi Shathish has given you nice and exact answer. 

However, you can use singleton method using query:-

$shimnetId = "1"; // use your shipment id: 

$read = Mage::getSingleton('core/resource')->getConnection('core_read');

$query = "SELECT * FROM sales_flat_order_address WHERE entity_id='".$shipmentId."'";

$results = $read->fetchAll($query);

var_dump($results);

as sales_flat_order_address contain same billing and shipping address 

Hope it will work for you.