Your story sounds similar to mine. My husband was raised an only child and never had to do anything. This behaviour carried over into his adult life. When we first started dating, he was working, but only out of necessity. He and his roommate barely did any housework. It was truly bad.
When he moved in with me, he was very much the same and like you, I was constantly telling him what needed to be done. He finally told me to stop constantly telling him what needs to be done - he heard me the first time. Like your husband, he didn't like being told what to do nor being "nagged" about it. So I let things be and he still was not much help.
When our daughter was born, I realized I could not do it all by myself. I finally started asking for help rather than telling him what to do. And it is truly amazing how much more he was willing and able to do with just being asked to help instead of being told what to do.
Now he has been with his job for over 2 years. He works evenings so he can be home during the day with our two children. He still stays up late most nights playing xbox, but that is his quiet time. He gets up in the morning and takes care of the kids all day and helps around the house. Our home is not spotless, but hey, I have a 3 year old and a 6 month old. We have both come to realize that time with our children is more important than the house being spotless. And as long as I ask him for help he happily obliges. The few times I have told him what to do, it just goes in one ear and out the other. I have simply come to the conclusion that men don't like being told what to do. But ask them for help and make them feel needed works wonders!
I have been where you are - wanting to just kick him out due to shear frustration with having to do everything myself. But ask yourself this...is it truly worth the love you have for him and your family to give up on your marriage over him not helping around the house? Have you sat down and had an open and honest conversation with him about how all this is making you feel? He may honestly not get it or there may be under lying issues with him that you don't know about. The first step is to have a good talk with him and if that doesn't help, than maybe councelling.