How can I make my icecream soft as it is too hard to carve straight from the fridge? 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.
If you really don't want to defrost it, you need to do something that will make it less hard when frozen. One choice, if it doesn't conflict with your allergies or your flavor profiles, would be to add alcohol - a liquor of your choice will make it freeze significantly less hard.

Another option would be to make it less susceptible to crystallization when refreezing, so that you can defrost it on the counter (or 20 seconds in the microwave). Try adding about 1/4 teaspoon of xanthan gum to a quart of ice cream base, that should reduce your crystallization problem a bit. You may need to reduce the agar a little to compensate. (I learned this from pastry chef Dana Cree).