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.