I have made my recipe with many changes and the most successful effort was the addition of a Instant Pudding mix. All others were much too hard to carve and serious effort was needed to just get the spoon or scoop into the frozen delight help please. All recipes made were made dairy free using soy and tofu bases.  The responses to this question have been very helpful and have given me new directions to explore. I believe now the product I want to create is achievable. Thank you everyone. 
Well, that's basically where ice machines come into the game. Often ice recipes tell you to stir the ice during the freezing process every 5 to 10 minutes or so, so the ice will stay softer. That's what ice machines are taking care of: While freezing the ice they constantly stir the mass, so in the end you will get the perfect soft ice. Anyway if you then place this ice in the freezer, it will become hard nevertheless, since finally it's all a question of temperature.  So you might either go invest in an ice machine or get the ice out of the freezer (and into the fridge) some 15 to 30 minutes before serving it.  There's definitely no other way around it. 