A parametric soft jaw I designed for my 5" bench vise. The OpenSCAD file is parametric so you can adapt it to your own vise's measurements.
I printed this in eSUN PLA+ at 50% gyroid infill. You could use more durable materials, but I'm pretty happy with it right now.
Modifying the OpenSCAD file requires you to install BOSL. Important parameters to tweak:
JAW_WIDTH=126.5;
JAW_HEIGHT=18;
JAW_DEPTH=5;
The author hasn't provided the model origin yet.