The Welshman took charge of a 90-minute session as the majority of the squad returned from their summer break.
They will undergo fitness testing at St George's Park tomorrow before flying to France on Wednesday for a five-day stay training camp.
Trinidad and Tobago striker Kenwyne Jones and United States winger Brek Shea are both absent as they are involved in the CONCACAF Gold Cup.
"First impressions have been good," said Hughes, who succeeded Tony Pulis last month.
"I'm sure as the weeks develop I'll get a better insight into everyone's ability and take it from there.
"But first and foremost, I've been really pleased with the attitude and application - I think that's really important because if you've got a good group you can put things to them and try and work with them."
Hughes added on stokecityfc.com: "It has all been very positive so far.
"We've got a day of testing tomorrow and then we're off to France for four or five days, which will help myself and the staff get to know the players and them to get to know us."