Yes, it is nice and plush, firm, but a soft firmness and very comfortable. No matter if you are a side sleeper, stomach or back. I find it very comfortable no matter which way I lay myself to sleep. It is very nice especially for my condition. I have chronic muscle and joint pain so I can't sleep on a hard standard mattress. The soft firmness is perfect for me. I can move around on it without feeling the pain, it is very nice!
It is a firm memory foam mattress with a top plush layer - it is not big and fluffy but an area just slightly different then the larger portion of the mattress - still very firm. The two people using this mattress are both over 200 pounds and this is the 1st time one of them has been really comfortable. Side sleeper - this mattress is still perfect - I love the way they hold up and do support the body. Hope this helps you decide.
I think this is a medium in the firmness which I find perfect. Soft enough is hugs me yet gives good support. I have a higher body temperature however. My husband who has a cooler body temperature says he finds the bed hard. I have to laugh how both he and I can have such wildly different opinions of the exact same mattress, even with an extra feather topper I put on it from our other bed.