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I've been beating my head over this for a while, but finally figured it out (at least on our build system):
TL;DR: Mark your scheme file as shared (via edit scheme on your build target), and ensure <projname>.xcodeproj/xcshareddata/xcschemes/<schemename>.xcscheme is not being ignored on source control (you'll want this file to upload).
What is causing the timeout is that xcodebuild is attempting to produce a scheme listing and the parser isn't finding any and thus not timing out (it used to do a 10 second timeout prior to Xcode 6 - it doesn't anymore, #thanksobama).
In prior builds (before Xcode 6), I noted warning messages (when "xcodebuild -list" fired off) akin to:
"Building with xcodebuild Timed out waiting for <IDEWorkspace, 0x2004cebc0>/“runContextManager.runContexts”"
Which lead me to http://stackoverflow.com/questions/5959382/building-with-xcodebuild-timed-out-waiting-for-ideworkspace-0x2004cebc0-runc - which solved the problem above for me.
Hope this helps.