Amend the soil heavily with organic material before you plant. Add 2 to 6 inches of compost or milled peat moss over the top of the bed. Till the amendment into the top 8 to 12 inches of soil. The organic material loosens the soil so it's less likely to pack down.
Create narrow beds with walkways between them. Make beds only wide enough so you can comfortably reach the center of the bed without walking on the soil. Walking on the soil in the bed compacts it and makes it hard.
Use drip irrigation or irrigate slowly at the base of the plants instead of using overhead irrigation. Drip irrigation seeps deep into the soil slowly without packing down the soil surface under the force of the water.
Mulch the bed with organic matter, such as wood chips or pine straw. These mulches break down during the gardening season and provide organic materials to the soil, which helps keep it loose.
Replenish the organic amendments annually in spring. Spread 1 to 2 inches of compost over empty annual beds prior to planting and work it into the soil. For perennial beds, mulch with 1 inch of compost around the plants.