I see I'm rather late in responding to this... however, I'll say something anyway...
I think it is important to have a positive conversation with your husband about the raising of the children. If he has a concern, he should feel free to discuss it with you. You should be able to do the same. We refer to this as "being on the same page and raising the kids together".
A SAHM is around the kids around the clock (I am a SAHM). They are used to you doing things a certain way. A routine. It is really helpful to the kids if you do things the same way, especially when they are young. If your husband is having trouble taking this extra information, I wonder if he's really just reacting to a negative feeling of not being involved enough. Or of not being trusted to be competent enough.
Be sure you thank your husband for taking care of the kids and make positive comments when he thinks of something you don't. That will help him feel important in their lives and helpful. He doesn't want to feel like just the bread winner, and he doesn't want to feel like he isn't able to be a good dad. Although we know that isn't in question, he may. A little praise can go a LONG long way. If he thinks to bring the jackets on a chilly night (even if you already thought of it), consider saying, "oh, good idea, it may get cold". Then he gets validation that he's doing a good job. I know it sounds silly, but I think it is probably very difficult to be a father with a SAHM wife and feel like an outsider because his time is so little in comparison.
Rather than telling him to wash the kids hands, let him get them to the table and then ask, "oh, did everyone wash hands?" That gives him the chance to think of it on his own, and if he forgets, you aren't controlling him, you're simply asking if everyone is ready. If he takes them out with jackets and it's warm out, let him go... he can carry the jackets if they take them off. What he is doing that you want to "assist with" isn't going to hurt the kids. I'd still follow up on the tooth brushing... things you can't easily fix after the fact and things that have an impact. But maybe you could make a comment like, "hmmm, it's going to take a bit to get this guy down, we still need teeth brushed and stories...".
If your husband is sensitive to this, it is possible he is just feeling like you don't trust him to be a good dad and he just needs reassurance. I've watched a lot of SAHM's belittle their husband's abilities when their friends are around. It's almost like they want to feel important about how important their job is, so they show off that their husbands can't handle it. I've seen the hurt in those husband's eyes. I try to keep that in mind and always say positive things (unless he did something super funny and we can all laugh along). (It's also important to say positive things about your children when they are near instead of telling your friends all the bad stuff they did... but that's another topic altogether.)
I just thought it might help to keep in mind a different point of view. Show your husband how much you value him and that he is a competent dad and you trust him to be a dad. He'll love you for it!
Liz