Opportunity is missed by most people because it is dressed in overalls and looks like work. - Thomas Edison
There are sofhand additives/bases that you can either add pigments to or add to finished inks. The difference (mainly) are the resins that go into making these inks. When cured the softhand/softee/chino base/fashion soft plastisol will feel much softer than standard plastisol. When printed correctly you can barely tell the difference between them and waterbase inks.
Each Ink manufacturere has a version of this. QCM: Softee BaseWilflex: Fashion SoftRutland: Chino BaseI don't remeber the names for Union and ICC. If anyone wants to chime in with those products that would be great.