With the era of modern vehicle electrification, electric machines with high traction torque-speed output and compact volume are highly desired. This paper presents a family of switched reluctance machine configurations that are composed of double rotors and one stator integrated in one machine housing. The machines are potentially more compact and lower cost, while providing two independent mechanical outputs suitable for hybrid electric vehicle transmissions. The detailed design process of a double-rotor switched reluctance machine (DRSRM) is presented, comprising of analytical calculations, finite-element field analysis, and full-drive system simulation. Additionally, some optimizations are applied to maximize the machine performance and minimize the machine weight and volume. A scaled prototype machine is designed and built according to chosen vehicle drive cycles to evaluate and validate the DRSRM prototype.