I have & love Scott Cole's Millenium Stretch. But it's tough to start an hour long stretching, relaxation tape. Once into it, I'm fine and am always glad I did it.
I don't know anything about Essential Stretch.
I have the Voight stretching tape. The stretches are fine, but she is like a zombie. I prefer the yoga style stretches on her newer DVD's.
Tamilee Webb's stretching videos are good. The longer one is 30 minutes which makes it a bit more doable than Cole's. The other tape has 3 10 minute programs which are great pick-me-ups and are easy to tack on after a workout.
Debra