Most of the time, my six year old son is fairly compliant to directions and requests from me. It is, of course, a give-and-take situation. Which means that there has to be a mutual respect for each other and our own situations.
For example: if he asks me to do something for him and I expect him to wait until I finish something 'in just a minute', I also have to extend that courtesy to him and allow a moment of finish-up or transition time when I ask him to do something. I cannot expect behavior from him that I am not willing to give or model to him.
A few things are helpful...
Besides making sure we have transition time whenever possible, I might also have him look at my face and repeat my directions back to me, so that I KNOW he has heard what I've asked him to do.
When I am busy, I may give a direction with a timer, so he knows "it's time" without me having to hover. I get his attention and then tell him "When the timer dings, I need you to do XYZ. Now tell me-- what will you do when the timer dings?" and have him verbalize it back to me. If he doesn't respond to the timer, I might just poke my head in and say "uh-oh! The timer went ding but nothing happened! Oops! What are you supposed to be doing?!" Sometimes I'll have him race a timer, too, which he often thinks is pretty fun. "Timer challenge! I need you to go potty and brush your teeth in five minutes!"
I offer myself during times of lots of transitions. That is to say, when we have to do 'wash face, brush teeth, get jacket on' prep for an outing or school, I stay with him still and we do it together--esp when he's getting ready for something he isn't excited to do. My son is a sweetheart, and he's also easily distracted, either by what's around him or by his thoughts-- he's a kid who is very 'in his head'. So, knowing this is an area where he needs support, I offer it-- most esp. when we are getting ready for something he is NOT looking forward to doing.
Conversely, when it IS something that's a treat for him, I actually back off. There are natural consequences to be learned sometimes, and when you 'forget' that you were supposed to be getting dressed to watch a favorite tv program--- but then you get sucked into playing Legos and forget, there is sometimes a nice,built-in consequence. I really try to choose which situations require my hand-holding and which ones he has potential to learn from. (It's important to me that he's on time for school-- it's NOT important to me that he watch tv.)
We have worked on cheerful cooperation and attitude in earnest since November and it's really paid off. We record, on a chart, 100 dots... he earns dots for cheerful cooperation, being honest, being helpful on his own, or when we see an independent sense of responsibility. We offer lots of praising/positive feedback "Wow! Kiddo! You came to breakfast already dressed and picked out your clothes without being asked. That's quite a big kid thing to do. Three blue dots." or "Thanks for your cheerful cooperation when I asked you to tidy up your shoes... two blue dots"... I am not acknowledging the fact that he did what he was supposed to be doing, instead, I'm focusing on his good attitude. When we get to 100 dots, we do something fun together as a family because "your cheerful attitude is so pleasant to be around... we like spending this time with you".
I also try to use many of the techniques from Faber and Mazlish's book "How to Talk So Kids Will Listen and How to Listen So Kids Will Talk". This means that if I get a bunch of complaining when I ask him to do something, I might say "you know, this is what I need you to do right now, and I do hear you, so maybe later we can find a different way to do this next time." Then, when we are both in a non-transition/calm space, we can revisit the problem moment and make a better plan for next time. One of the things the book suggests is to use visual/written reminders whenever possible, esp. around regular conflicts. This is why task charts for daily responsibilities (eat breakfast, get dressed, brush hair, etc) can work well-- you refer the child to the chart (have them move a magnet down it as they complete the tasks or use as laminated chart with dry-erase marker as a checklist) and you just say "go look at your chart. What's the next thing to do?"
Lastly, and this is so true-- pay the most attention to the behavior you DO like and want to see more of. That's the behavior they will be more likely to repeat. I try to give as little attention to the complaining as I can (unless it warrants sending him to his room) and give positive feedback as often as I can for when he's doing well. So, both you and your husband are right-- dawdling and complaining are normal AND you can help your kids find that getting it together and doing what's asked has benefits, too. You might find that asking your kids to work as a team with short 'timer challenges' might help. "Hey kids! I have a timer set for ten minutes. If you can get dressed and bring down your clothes to the washing in that time, that can be 3 blue dots (I'd do a 'family' dot chart for multiple kids if I was working on this.) "
These are just ideas which work for us-- only you know what will work for your family. I should add, too, that besides the natural consequences of missing out on some things, I may have a couple other consequences-- whining and foot dragging usually gets one warning "If you are so tired you can't do what I am asking, then you will lose your stay-up time, because I will think you need more sleep for tomorrow" (he has a privilege of staying up to play quietly for an hour after bedtime stories) or "I have had to spend five minutes of my time today reminding you to do what's asked when you are very able to do it and are choosing not to. So, I need you to give me five minutes of your time now" and have him do a chore or something else that's not quite pleasant. "If you cannot follow directions now, you're going to have to trade me time" often encourages him to get moving and not get himself in that situation. Good luck!