The actuator using shape memory alloy spring with bias spring can act as a bidirectional actuator due to the restoring force of the bias spring. In the design of shape memory actuator with bias spring, the required design specifications are the generated force and the necessary stroke. To fulfill these requirements, shape memory alloy spring and bias spring should be designed carefully considering the specified application. In this paper, the novel design method for shape memory alloy actuator with bias spring, which does not require any assumptions from experience, has been proposed and verified by the test of fabricated shape memory alloy actuator. The experimental results show good agreements with calculated values, which guarantees the practical validity of our proposed design method.