I usually do what Zing does. If my soap is still warm, it stays in the mold and usually under cover. I have a somewhat different method of covering my soaps. I have two wooden boxes, made of 1" thick plywood/MDF; I put the soap mold in one, lined with a wash cloth and place the second one over it. (Some of my soaps have higher tops that the depth of the box.) Once it's cool, I remove it from the mold and cut it. That said, it depends on the soap recipe, too. I have a couple of recipes that get pretty hard and need to be cut sooner rather than later. Those I'll remove when they're still slightly warm to the touch and allow them to cool down, then cut.
Soaps made in cavity molds, I will remove once they're hard. I also don't gel soaps in cavity molds.
Soaps made in cavity molds, I will remove once they're hard. I also don't gel soaps in cavity molds.