It depends of the character, but I'm team soft voice all the way, looking back I prefer the voices of the LI with soothing voices. For example Akira Ishida or Hirakawa Daisuke, after hearing them I feel relieved.
If I had to choose, I think I prefer soft voices. I like it when they play gentle roles with a gentle voice, and their "s"-style acting is great, too!
I'm so happy to see someone list Takashi Kondo and Junichi Toki as their favorite voice actors—I like them, too!