In recent years, the study of topological phononic crystals have received considerable attention. However, due to constraints related to the structural dimensions, mass, and other factors, the realization of topological waveguides in the low-frequency range is difficult, and the research on multi-frequency topological waveguides is even more challenging. This paper proposes a novel phononic crystal with embedded cantilever-beam resonators based on the valley-Hall effect. By breaking spatial inversion symmetry, the degeneracy at the Dirac point is lifted, leading to the opening of bandgaps and the formation of dual-band topological waveguides. The results show that as the difference in cantilever length increases, the low-frequency bandgap width and the high-frequency bandgap width increase to 28Hz and 72Hz respectively. Furthermore, by designing supercell structures with different unit cells and arranging them in specific configurations, different waveguide paths can be obtained, such as right-angle and “+”-shaped types. In bent structures, elastic waves can propagate along the boundaries between different unit cells. As the bending angle increases from 20° to 40°, the wave localization range gradually decreases. These results provide a new approach to the design of low-frequency waveguide devices.