My advice is to stay away from SOAP. Yes the perlembed interface can be a bit of a PITA.
Check out how simple it is to write TCP clients and servers using IO::All. I've just implemented an "RPC" mechanism of sorts with it and think it's great. The one-line HTTP server that supports CGI is hilarious.
If it seems appropriate for your task, I'd have to recommend the Syck library from WhyTheLuckyStiff, which will allow you to convert your structures to a format called YAML. The primary advantage of doing this over XML, for instance, is that the messages are easier to debug, most of the parts are already there, and you're sending data structures using a format designed for data structures and NOT a standard for documentation markup.
$h=$ENV{HOME};my@q=split/\n\n/,`cat $h/.quotes`;$s="$h/."
."signature";$t=`cat $s`;print$t,"\n",$q[rand($#q)],"\n";
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