Correct me if I'm wrong, but the soreness you're feeling is the micro-tears of the muscle fibers. When you rest the tears start to rebuild and that's what adds muscle developement. But if there is no movement you lose mobility so the answer to your question could be "active rest". Someone else referenced to it all ready. Get back out there and 'walk it off' so to speak.

Icy Hot and such is just topical(sensation only). A nice rub down and real heat (hot packs, heating pad, etc...) would also relieve some of the pain symptoms.