Use a slotted spoon to remove the egg from the water, then gently press on the yolk with your finger to check how soft or firm it is. If you like runny yolks, you want it to be a little soft and have some bounce. If you like firm yolks, return it to the water and continue cooking until it is firmer to touch. Usually 3 minutes will yield a soft poached egg, 4 minutes will yield medium, and 5 minutes will yield hard.