All three: motor starter, soft starter, and VFD (Variable Frequency Drive) are devices used to control electric motors. They differ in how much control they give you over the motor and how much they cost. Think of them like three levels of driving aids for a car:
Motor starter = basic on/off switch with protection
Soft starter = smoother start/stop, but no speed control
VFD = full control of speed, torque, and energy use