You are in a tough spot. If you, as you say, have recorded the deed, then you made a completed gift and transfer to them. You can not take their names off the deed unless they agree to it. This is why an estate planning attorney usually asks many questions and is quite careful before engaging in this type of transfer. Once done, you do not have control and have lost many property rights in the house in question. You should immediately meet with an estate planning lawyer to discuss this matter in more detail, as you may have some leverage over your children if you have other assets that they may want in the future.
Hope this helps.
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