a schematic of what you have might be helpful. did you add input and output capacitors to the 7812, and on the output side of the 3055s? also, it wasn't very clear whether you had separate emitter resistors for the transistors, or just one. the collectors of the 3055 can be tied together, but the bases must each be fed with about a 100 ohm resistor, and each emitter has a 0.47 ohm emitter resistor. the base resistors are only tied together on the LM7812, and the emitter resistors are only tied together on the load side. there should be a 470uF cap from the input of the circuit, a 10uF cap from the 7812 output to ground, and a 1000uF cap from the regulator output to ground. the reason it's heating up on you could be from oscillation if you have no caps, or, if you have the emitters parallel without each one having it's own 0.47 ohm resistor, one or more devices are "current hogging". hopefully, you didn't run the regulator without having the 3055s heat sinked properly, or you could have one or more of them shorted. some of the heat is going to be the internal resistance of the transistor, because it's dropping half the power supply voltage inside the transistor. with a load of 6A, for instance, that's 1A for each transistor, which means each transistor is dissipating 12 watts. that's a total of 72 watts.