Alex Zimnickas scored 12 points with a team-leading eight rebounds for Hartford (6-4), which has won its last three games.
St. Francis (0-12) came back from a 13-point deficit with a little more than 9 minutes left. A Marcus Williams basket cut Hartford's lead to just 54-52 with 2:18 remaining.
St. Francis had a chance to take the lead or tie the score, but turned the ball over with 32.9 seconds left. Hartford sealed the victory on two free throws each from Zimnickas and Von Rosenberg in the game's waning seconds for the final score.
The score was tied five times in the highly competitive first half.
St. Francis took its first lead of the game when Robert Hines made both of his free throws to give the Terriers a 16-14 lead with 9:17 left. Von Rosenberg tied the score for the fourth time with a 3-pointer, making it 22-22 with 4:31 left in the half.
Hartford ended the half with a 10-4 run, capped by a Taylor lay-up at the buzzer that gave the Hawks a 32-26 lead. Taylor led the Hawks with 11 points in the first half.
After losing their first three games of the season, the Hawks have now won six of their last seven. St. Francis is still looking for its first victory of the season.