Depending on the bar drop you can tolerate you may fit fine on stock frames. I'm 6' with a 35.5" cycling inseam and I can fit on a Cervelo R3 (56cm) which has a 165mm head tube. I do have the stem turned up and about 2cm of spacers but that's well within the specs and does not make the bike handle funny.

Another brand with short top tubes to look at is PedalForce. I have a 58cm QS2 (no longer made) whose top tube is within .5cm of the R3 but the head tube is about 3cm taller. To get the same bar positon as the R3 the stem is down on that one and it only has a 10mm spacer.