IIRC - You're limited to around 1kW from the 12v battery. Surge might be a bit higher, but beyond that it's too demanding. A possible good source of information would be from the Prius forums as this is something I've looked at doing myself with my Prius at the time.
Now for the OP question: in North America? Not yet.. I do recall there being a product demonstrated at CES which used the CHAdeMO connector for vehicle to house/grid, but I just can't find it at the moment.
However in Europe there's at least one energy company that includes such device in their service. What's wild is how their grid operates and how during certain periods of time you can actually get paid to take electricity!
Only question I have is: will a factory Soul EV do bidirectional, or does that require a special line of software or hardware?