Steel strings are under higher tension than nylon, so, whether they are round-wound, flat-wound or taped, they will still require greater pressure to fret and pick.
You can go to a lighter gauge, which will reduce the pressure needed, but your sound will become brighter, and the bass response of the guitar will be reduced; you're moving less metal, which means the vibrations transmitted to the guitar top via the bridge and nut will be less. It also could cause fret buzz because the lighter strings won't pull on the neck as hard. If you have an adjustable truss rod you might need to reduce its tension a bit.
An option I used to use on a 12-string was to go with silk and steel strings. They're lower tension and kind of a hybrid between nylon and steel. Again, you might need to have your guitar neck adjusted with them. And, again, they will affect the sound of the guitar.
I'd recommend going to talk to a good guitar technician and let him look at your guitar. It might be that your current string gauge is unnecessarily high and you could drop to a bit lighter string, change to a different type, such as using a bronze-string, and keep a pleasing tone while reducing some pressure on your pickin' fingers.
Finally, your fingers will adjust and eventually you won't notice. You might want to pick a bit lighter and look into miking your guitar or using a pickup when you need to be heard by an audience. There's a happy balance between getting lots of volume and retaining skin on your fingertips, and electronics can play a good part.