Hard Brexit means leaving the EU. Leaving the EU means leaving the single market, customs union and ending freedom of movement.
Soft Brexit means not leaving the EU by not doing any of the above.
Labour campaigned on a manifesto that pledged to leave the single market, customs union and end freedom of movement. Therefore, if as you say, people voted Labour to avoid a hard Brexit, it seems a strange way of doing it. Unless, of course, they had a longer term and more calculated plan in mind.