The RC values depends on a lot of things but here are the basics to get you started.
Frequency is important, you want an RC of about 10 times your base PWM period.
(depends on how much ripple you can tollerate and how much delay in response you can cope with)
If we assume a PWM frquency of 3kHz, then the period is about 0.0003S
An RC of 1uF and 30k would be about right.
But that assumes no load on the RC.
If you load it, then the R is effectively decreased.
One way to avoid that is to buffer it with an op-amp or similar. Another way, is to decrease R (so that the effect is smaller) and increase C to keep RC the same.
I don't know what loading your 555 circuit would present so try it and see.
If you get a lot of ripple then try 1uF and 3k.
The values are not critical but it is a balancing act between response and ripple.