yes, the soft quiet ones are nice, although I wouldn't say loud can't be soft. It really depends on the situation, because you can't always roll, and sometimes you just are going to come straight down... forced or otherwise. In those cases, it's nice to leave with only a sore hand and a body that hasn't noticed a thing.
Quiet, smooth and soft ukemi always feels good.. and in watching, it's noticeably more attractive. Always strive for it, most definitely.