This study compares the propulsion performance between hard- and soft-magnetic microrobots under rotating magnetic fields. Results show that hard-magnetic microrobots achieved step-out frequencies and maximum propulsion speeds 4.5 times higher than soft-magnetic microrobots. Below saturation magnetization, soft-magnetic microrobots demonstrated similar performance irrespective of magnetic susceptibility, highlighting that torque generation in these materials is purely geometry-dependent. Employing a tapered ribbon design increased propulsion speed by a factor of 3.5 compared to regular helical designs. These results provide a quantitative basis for selecting materials and designs, enabling designers to weigh the propulsion benefits of hard magnets against the biocompatibility of soft-magnetic microrobots.