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.