I have been using wilton brand fondant for all my cakes, and haven't tried any other brand. It seems that it isn't very soft and can be difficult to work with, should fondant have a stiff hard texture or be softer and easier to roll out? I was wondering if anyone could recommend a good brand of fondant.

No, it should be pliable. I'm in Canada and I've been purchasing a house brand from a local bakery and bakery wholesaler. I've also started to use marshmallow fondant (MacsMom recipe on this site) and found it great to work with. I've also heard others on this site so they mix Wilton fondant with Duff's (or Satin Ice -- which is Duff's). The latter is very pliable (too much so) so mixed with Wilton should give you a better texture. HTH.