Computing devices already permeate working and living environments; a trend which affects all aspects of modern everyday lives, and one which is expected to intensify in the coming years. In the residential setting, the enhanced features and services provided by said computing devices constitute what is typically referred to as a "smart home". However, the long-promised improvement in the quality of residential life cannot be realized without overcoming some significant obstacles introduced by these technological advancements. The direct interaction smart devices often have with the physical world, along with the processing, storage and communication of data pertaining to users' lives, i.e. private sensitive in nature, bring security concerns into the limelight. The resource-constraints of the platforms being integrated into a smart home environment, and their heterogeneity in hardware, network and overlaying technologies, only exacerbate the above issues. This paper presents Cross-domain Service Access Control for devices (XSACd), a framework that combines the well-studied fine-grained access control provided by the eXtensible Access Control Markup Language (XACML) with the benefits of Service Oriented Architectures through the use of the Devices Profile for Web Services (DPWS). Based on standardized technologies, it enables seamless interaction and fine-grained policy-based management of the heterogeneous embedded devices that may be found in a smart residential setting, including support for interactions between users and devices residing on different locations and networks. The proposed framework is implemented in full and its performance is evaluated on a test bed featuring relatively resource-constrained smart platforms and embedded devices.