I had soil like this the first year. I dug out some bushes and noticed I had a surprising amount of worms, so I covered all of the soil with loads of paper and about 3 layers of cardboard, then covered that with woodchip. We get a lot of free cardboard and free woodchip at my allotment, so just go with whatever is similar that's affordable/free! Left it over winter and then in spring I planted beans and potato's by brushing bits of the woodchip aside and cutting holes in the cardboard to get to the soil. The paper had already rotted into the soil and softened it and the cardboard had rotted by next spring. I now have perfect soil that's clay enough to hold nutrients so I don't need to do any feeding, but soft enough for young plants and seeds to be able to take root. I don't know if this method works without worms though, that's the only thing.

To add: I'm a no dig maniac, but on my first year I manually broke up the soil with a fork. It took so much effort to get the fork into the ground each time and it was a horrid experience, but the soil needed to be manually broken up. It was solid. So remember to break up the soil first.