Hensley hooked up with Zach Pate on a 12-yard touchdown pass early in the fourth quarter to give the Redskins a 34-27 lead.
Woodrow battled back. Johnson and Williams hooked up for what appeared to be a potential game-tying touchdown but Williams was whistled for offensive pass interference.
On fourth-and-20, Johnson, who threw for 144 yards and three touchdowns and rushed for 95 yards, broke off a 33-yard run on a draw play to set up the game-winning touchdown pass.
"That was a gutsy draw play on fourth-and-long," Hurricane coach Jeremy Taylor said. "They just have so many athletes and they made plays. We made too many mental mistakes. They made some defensive adjustments and we should have gone back to some of the things that worked in the first half. That's my fault. It was a tough loss, but we have a lot of football left."
Hurricane was nearly unstoppable in the first half, scoring on four straight possessions to seemingly take control.
Hensley threw a touchdown pass of 37 yards to Stephen Handley, set up by an interception by Zach Fitzsimmons.
Woodrow tied the score when Johnson and Ramon Edwards hooked up from 26 yards out.
Jeremy Francis then put Hurricane up with an 11-yard touchdown run. Hurricane then capitalized on a Woodrow fumble when Hensley and Koi Turner connected from 12 yards out.
Woodrow cut it to 21-13 on an 11-yard run by Chase Hancock, who later left the game and did not return.
But Hensley and Pate connected from 28 yards late in the half to take a 27-13 lead at the break.
"It's a big win, but we have a long way to go," Hosea said. "Every game is a different challenge but it feels good to get this one."
Woodrow had 371 yards of total offense, while Hurricane had 365.
Woodrow Wilson is at Spring Valley next week while Hurricane will visit George Washington.