It is easier to tweak a frame that is slightly too small than it is to tweak one that is slightly too large. You probably are right on the border between a 56 and a 58. I am 6'0" with a 30" inseam, and I ride a 56 cm Specialized Roubaix. I did have to replace the standard 120 mm stem with a 110 mm stem. If I went with a 58 cm frame, I would have needed a 90 mm stem, and that would make the bike pretty twitchy. You probably could make either size work equally well for you. There is nothing like a good session with an experienced fitter and a few test rides, though, to be sure.