@bdp24 - Curious what you mean by "too soft"...
Too soft as in won’t adequately act as a conduit for vibration? or too soft w/respect to deformation under the load of a component??
If the latter, not sure that is the case. Each cup can support up to 500# (so the product literature says) and the cups are some sort of rigid, hard plastic, not soft rubber. I have on in hand. Only the bottom O-ring providing "grip" is rubber.
I do like your concave drawer pull idea. Another possibility is an "acrylic dimple block" used for displaying baseballs, mineral spheres, decorative eggs, etc. The "dimple" is a concave depression that can accommodate a bearing. They come in various sizes.