Artisanal and homemade ice cream is always more dense than the average frozen dairy product sold in grocery stores. That's normal! Commercial frozen products usually have more air in them, which increases the profit margins, but also makes the ice cream softer. At home, churning with small machines, you will inevitably incorporate less air and so the ice cream is more dense. To scoop hard ice cream, take the ice cream out of the freezer and let it sit at room temperature for 15 minutes before scooping (more or less depending on how hot your kitchen is). When it's time to scoop, be sure to dunk the ice cream scoop in hot water to warm up the metal, then blot it dry. This will make it easier for you to scoop the ice cream.