Detectors with depth encoding capability and good timing resolution are required to develop a high-performance whole-body or total-body PET scanner. In this work, depth-encoding PET detectors using light sharing between two discrete crystals and single-ended readout with SiPMs were manufactured and evaluated. The detectors consisted of two unpolished LYSO crystals of 3×3×20 mm3 with different coupling materials between them and were read out by Hamamatsu 3×3 mm2 SiPMs with one-to-one coupling. The ratio of the energy of one SiPM to the total energy of two SiPMs is used to measure the depth of interaction (DOI). Detector with different coupling materials in between the crystals were measured in singles mode to find detectors that can provide good DOI resolution. The DOI resolution and energy resolution of three types of detectors were measured and the timing resolution was measured for the detector with the best DOI and energy resolution. The optimum detector with 5 mm optical glue, 9 mm triangle ESR and 6 mm rectangle ESR in between the unpolished crystals provides a DOI resolution of 2.65 mm, an energy resolution of 10.0% and a timing resolution of 427 ps for events of E>400 keV. The detectors simultaneously provide good DOI and timing resolution, and show great promise to the development of high performance whole body and total body PET scanners.