Answer:
Yes, but no.
It would be a difficult thing to do. The only way to do that is by losing your body fat percentage. The thing making your muscle seem soft is the body fat surrounding it. So, I guess yes but the muscle itself won’t change density. When you work out, you expand and strengthen the muscle, as far as I know, that is the only way to make your muscles “denser”.
Step-by-step explanation: