If the [piping] bag is fully sealed and closed, you can place it into a container of warm water for 5 minutes. Dry it off, and then give it a few squeezes to make sure it's evenly softened and the same temperature and consistency throughout.
This nifty trick works so well because the water gently warms the icing via heat transfer, making its texture softer. Ensuring the piping bag is sealed prevents any liquid from getting inside.
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