how long ago were you circumcised ? There is mederma. There is also pure vitemin E oil (not the capsules for eyes). This is a slow process. Nothing proven to work, but many reports of it working.
Vitamin E oil is thought of helping accelerate collagen destruction. (there is a constant creation/destruction of collagen, and the scar contains high concentration of collagen). So Theoretically, Vitamin E could help reduce the scar.
If you don't wear abrasive underwear where your dick rubs about all the time, you'll find your glans won't lose sensitivity. Properly fitted underwear that keeps your dick in place will keep your penis nice and soft.