Cook until the fruit is soft but not mushy.

将水果煮至柔软，但不要煮成糊状。

《牛津词典》

The cook is going to stew potatoes and mutton together until the meat becomes tender and soft.

这位厨师正打算把土豆和羊肉放到一块来炖，直到这些肉变得又嫩又软。

youdao

Cook 4 to 5 minutes more or until peaches are just soft, stirring occasionally.

煮4 - 5分钟或者直到桃子软化，其间搅拌几下。

youdao

Return pan to low heat and cook until vegetables are soft, about 5 minutes, stirring constantly and scraping the pan bottom well.

NPR: The Comforts of Food

The stew needs to cook on the stove for about two and half hours, or until the beans are just soft and creamy inside but still hold their shape.

WSJ: The Feijoada From Ipanema