Hi, Michelle. The sweat on the soap is probably condensation from the freezer. I try not to put molds in the freezer for that reason, but sometimes it is necessary in order to get stubborn soap out of the mold. If the soap is sweaty after I take it out of the freezer, I usually unmold the soaps and then let a fan blow on them until the moisture is wicked away, turning them every once in a while so the fan hits all of the sides. When they're dry, then I wrap them in plastic wrap.
Soaps can also sweat if they're left unwrapped in humid conditions. If it's just a little bit of glycerin dew, you can carefully wipe it away with your finger, just be careful not to leave smudges or streaks. If the surfaces get dulled or smudgy from wiping, you can spritz them with a bit of rubbing alcohol and then smooth the surface with your finger.