The paper Toward Characterizing the Performance of SOAP Toolkits in the IEEE/ACM International Workshop on Grid Computing shows that gSOAP is the fastest toolkit compared to .NET, Apache Axis Java and C++, and xSOAP.
Below are results obtained in previous studies.
See ICWS 2003 paper for more details.
Also see SAC 2004 paper on gSOAP's code generation techniques with emphasis on embedded systems (PDF) and ICWS 2004 paper on Finite State Automata for High-Performance XML parsing (PDF).
Not-so-recent performance results can be found in this independent research paper that presents an investigation to the performance of SOAP for scientific computing. The authors implemented a special-purpose implementation for processing arrays of doubles in SOAP/XML and compared the results to gSOAP. The results show that gSOAP's performance is somewhat lower than the special-purpose implementation (but magnitude higher than Apache Axis). The reason for the lower performance is that gSOAP is a full implementation of SOAP and therefore performs more tasks at run time to process a SOAP message compared to the special-purpose implementation. In addition, the study did not enable gSOAP's keep-alive support which accounts for up to 25% of the performance difference. Other differences that explain the performance results are: