module.config.php

<?php
return array(
    'router' => array('routes' => array(
        'soap' => array(
            'type' => 'Literal',
            'options' => array(
                'route' => '/soap',
                'defaults' => array(
                    'controller' => 'Soap\Controller\SoapController',
                    'action' => 'soap',
                ),
            ),
        ),
    )),
    'service_manager' => array(
        'factories' => array(
            'Soap\Controller\SoapController' => 'SomeFactoryYouWillNeedToWrite',
        ),
    ),
);

SoapController.php

<?php

namespace Soap\Controller;

use Zend\Mvc\Controller\AbstractActionController;
use Zend\Soap\AutoDiscover as SoapWsdlGenerator;
use Zend\Soap\Server as SoapServer;

class SoapController
{
    protected $route;

    protected $soap;

    protected $wsdlGenarator

    public function __construct($route, SoapServer $soapServer, SoapWsdlGenerator $wsdlGenerator)
    {
        $this->route = $route;
        $this->soap = $soapServer;
        $this->wsdlGenerator = $wsdlGenerator;
    }

    public function soapAction()
    {
        $request  = $this->getRequest();
        $response = $this->getResponse();

        switch ($request->getMethod()) {
            case 'GET':
                $this->wsdlGenerator->setUri($this->url($this->route));
                $wsdl = $this->wsdlGenerator->generate();
                $response->getHeaders()->addHeaderLine('Content-Type', 'application/wsdl+xml');
                $response->setContent($wsdl->toXml());
                break;

            case 'POST':
                $this->soap->setReturnResponse(true);
                $soapResponse = $this->soap->handle();
                if ($soapResponse instanceof SoapFault) {
                    $soapResponse = (string) $soapResponse;
                }

                $response->getHeaders()->addHeaderLine('Content-Type', 'application/xml');
                $response->setContent($soapResponse);
                break;

            default:
                $response->setStatusCode(405);
                $response->getHeaders()->addHeaderLine('Allow', 'GET,POST');
                break;
        }

        return $response;
    }
}