To ask how do you command respect and NOT be shouty

I've been reading How to Talk so that Little Kids will listen - it6s fab and has really made me think about how to approach situations. Disclaimer - DD is only 18 months so I can't apply much yet but I'm trying to use the language suggested now so that I get into the habit of it! It's empathetic but not permissive, helps set boundaries and work through problems. Might be worth a look.

Also I had the 'look' when I was teaching - basically took years of the kids knowing me, how I worked and having respect for me. It doesn't magically come from nowhere unfortunately!

Don't ask your DH nicely, just tell him - man to man, as it were

It's a case of being just a little more assertive. Think of a boss and an employee - the boss will ask the employee to do something in a completely different way to when the employee asks the boss for a day off! The boss will be polite, but it is clear that it is an instruction to be carried out.

If it's mostly your DH - calm, eye contact, don't ask, tell. He won't like it.

I used to let mine get away with 'oh, but you do this [insert mention of random thing that annoyed him] so you're not perfect', but then I learned about DARVO.

Needless to say I am now single though.

I find quietly menacing works pretty well

It sounds as if you're not the problem - your DH is. It doesn't sound as if he has a great deal of respect for you.

By being 6ft 1 and knowing what you are talking about!

If you have to give DH instructions (which I would think is quite unattractive) maybe wait until there are 2 jobs to be done, then say ' can you do Xxx while Im getting on with YYY?' Or if he needs more control offer the choice.. 'do you want to do Xxx or Yyy just now?'

Do not express it as helping you, or a favour, just a number of jobs that need to be done by the adults in the house.

Toddlers - eye contact, getting down to their level and immediate consequences. Plus lots of praise for good behavior. And rewards when appropriate. And at least they are portable so you can physically move them if they won’t do as they are told!
Plus believe in your authority - you are the Mum, you do know best !!
Dogs and husbands I have no advice im afraid.

Super nanny had it right- on their level, eye contact, nice deep firm voice.

Imagine they're large, unruly dogs and go from there 😄

Drop your register. Go kind of low and slightly growly. Practice saying things like this, combined with a hard stare:

• "What did you just say to me?"
• "I beg your pardon?"

Do you only have the one toddler? If they are a toddler, can't you show them the right way? So if the toddler is shouting, then just be really calm and demonstrate how you talk to people or empathise if it is something they can't have and then distract with something they can. Even stingy songy voice to distract. I think a toddler is a baby really, they are naturally curious so I would try not to personally be too Nanny 911 about it as it just feels a bit oppressive.

Not 'stingy', singy voice.

My voice is deeper than average, which seems to make people take me seriously (not just children). I've been told I sound like a newsreader

You really have to believe in yourself, tbh.

I'm quite easy-going with my boys, and have always erred heavily on the side of positive reinforcement, so the few times I've had to put my foot down it's been with, as a pp said, a firm, low-ish voice. And looking them directly in the eye.

Generally, a question like "Do we think that socks live here?" or some such is enough to get those socks put where they belong.

Husbands, though- I don't know. I had two, neither of whom would ever do what I asked, so I just divorced them. Probably not what you want though...

Kids "I am going to count to 3 and then I will take away/do xyz.." then do it..
Dogs I stand and hold my pointy finger at them and say "lie down" very firmly maintaining eye contact and keeping the finger pointed.
DH I say "you know I'm right so just crack on and it will be easier" etc.
I am tall and have a resting bitch face, which prob helps in most circumstances

Honesty it’s hard to say! As a nanny it’s something I’ve perfected over the years.

I follow through/never ever make empty threats. I remain calm and try to keep my voice stern and calm.

Actions OP. Actions speak louder than words. I had 5DD's all now grown and flown. DH had a very demanding job and so did I so it was imperative that once we were outnumbered we had an effective way to parent them whilst still having lots of fun and happy times. They all laugh about it now and assure me that none of them were traumatised in any way by my slightly eccentric parenting methods.
Here are a few examples of things I've got up to over the years to give you some ideas. No shouting required.
DH sitting on the sofa behind his newspaper - I'm talking to him about trivia really but he's not paying attention and I'm just getting the occasional mmm. So I stripped all my clothes off until I was starkers whilst he was oblivious behind his paper. Finally he glanced in my direction and his face was a picture along with "expletive expletive reckless what the hell are you doing?" I replied ".Trying to get your attention DH". He was a lot more attentive after that.
Stroppy teen DD - everyone at the table and it's cottage pie for dinner. DD takes a mouthful and says "yuck this tastes horrible - I'm not eating It!" I don't say a word but get up from the table, pick up her plate, go in the kitchen and put her dinner in the dogs bowl and the plate in the dishwasher. I go back to the table and resume eating my dinner. "Where's my dinner?" demands DD. "In the dog" says I.
DD aged 6 refused to get dressed for school or eat her breakfast. I had 2 babies to get ready so needed her to do this herself. I put her uniform in a carrier bag and put her in the back of the car in her nightie with her boiled egg and her uniform. The egg and soldiers were eaten and all the uniform was on bar the tie by the time we reached the school.
DD's arguing. Stand up, say very quietly, "Right, I've had enough of this, I'm going to my room. " Go upstairs into your bedroom and lay on the bed with your book, Within a couple of minutes there will be a knock on the door and a deputation saying "sorry Mummy please will you come down now?" It never failed and was far more effective than sending the little treasures to their room or the naughty step.
Fighting in the back of the car. Pull over as soon as it's safe to do so. Turn off engine , say nothing and just stare out of the front windscreen. They soon get the message that they're going nowhere until they are quiet.
Good Luck OP - you just need to get in charge.

@recklessgran these made me laugh! I agree though you need to have consequences. Don't repeat an instruction, it just dilutes it, so for toddler it might be if you throw a toy again I'm going to take it away or if you run off you'll need to go in the buggy. Husband needs to be responsible for chores that have consequences for not being done ie laundry (and make sure you buy more pants and socks than him!) or cooking dinner etc. If you really need him to listen "when you... I feel... I need..." can be a helpful structure. Ie, "when you don't wash up, I feel unappreciated and unloved, I need you to wash the dishes between finishing a meal and going to bed". The dog I have no idea about sorry!