Some of this depends on your personal body size, and if you are willing to use a stepladder to do tank maintenance. Just for reference I'm 6', and 220#. I've found that you want 50% of the bottom tank's depth above the lower tank, you can cheat & shorten it by an inch. So for a 2' deep tank, 11" would be suitable.
The closest I have running is a 55 gallon, 48"x13"x22", below a pair of 20 gallons. Ignore the nosy dog;
Those are 2x4 construction, since there is a gap between the pair of 20's there is about 3/16" deflection on he top, due to there being no center leg. If I were to design it for a pair of 55's I would go with 2x6 construction. I also designed it so milk crates would fit under it for storage. Any time you have tanks that are too low, you have maintenance issues, it's tough to get a good siphon, that bottom tank is a good height compromise. The bottom tank also loads from the side, that covers a small part of the tank, but adds stability to a breeding rack that I practically climb on at times.
All you are doing is building a pair of frames out of 2x6's that is 3/4" larger than the base of the tank, this will center the edges on the 2x6's. Make sure these are square & level, I would add a cross member the 2' direction to increase stability & eliminate any twisting.
So, you want the base of the bottom tank about 14" minimum above the floor. 24" of tank, 11" of space, plus the 2x6, which is actually 5 1/2". Doing the math, this makes your legs 54.5", and the top of the top tank 78.5". Keep an eye on ceiling height, you do want that 11" gap above the top tank, so as long as you have 7'6" from floor to ceiling you are good to go. You could cheat a couple of inches off of the bottom, putting the bottom tank at 12", with 52.5" legs.
First build your two frames on a flat level surface, I like to use a pair of 3" deck screws on each. Think of where your legs will screw in, screwing a screw into another screw doesn't work. I do drill pilot holes for this.
I build them upside down, putting the top frame face down, and attaching the legs. Make sure the legs are square. I use three 3" deck screws for legs. Measure the distance for the bottom rack, I then use a couple of C clamps to clamp it in position, checking distance & squareness a few times. Once you are sure that the whole thing is square, and the two levels are parallel to each other attach the bottom level, once again, 3 screws per leg.
If you want a little more safety, lag bolt it to the wall, into a support member of the house. I would use a scrap of 2x6 to shim it away from the wall, take into consideration the gap needed for any hardware you will be running.