Y'all do realize that when doctors talk about not using soap on infants, they are referring to syndet bars, right? The problems with syndet are many and varied. PEG, SLS, etc, etc. I would not use any soap on the baby's forehead or around the eyes, but other than that, I would not hesitate to use hand made soap that is low cleansing, high conditioning, free of color, scent, and additives.
Do infants need soap baths to be clean? Not necessarily. But you are going to want to truly clean(with some sort of soapy product) their bottoms, and the creases in their arms and legs. Remember to rinse well. Or use a baby wipe. But I am getting mixed opinions from doctors on the safety of those these days.
Whatever your child's pediatrician says to do, is what you should do. Do, however, be sure to explain to them that your soap is free of all the chemicals and still contains all of its glycerin. Maybe give them a bar or two to try out.