Funny thing... I coached the defense last year for the 4-6th grade team, and I was definitely the "harder" coach. I had no problems yelling, making kids run laps, chewing them out in front of their parents, etc.
This year I've come out and told everyone that I'm not coaching this upcoming season and everyone has more or less said the same thing, "oh my God you HAVE to coach next season!" This is from the parents and siblings of most of the kids I chewed out.
I think if you're tough but fair, and definitely balance your scolding and your praise, people will deal with it if you're an asshole from time to time.