For SoftICE on WinXP, use version 4.30 or 4.31. I uploaded DriverStudio 3.1 to the FTP already, so you will want to grab that.

But, OllyDbg fully supports hardware breakpoints, so I don't really see a need for SoftICE here. Working with hardware breakpoints in Olly is, unfortunately, not very intuitive, but it's fairly painless if you have the CommandBar plugin. To set a breakpoint, just do the obvious -- right-click on an address, and do Set Hardware Breakpoint On Execute. If you have the CommandBar plugin, the easiest way to clear a hardware breakpoint is just to do the HD command -- you will get a dialog showing you the currently set breakpoints, and you can just select which one to clear.

Regards,
Satyric0n