Does soap kill germs?
No, soap does not kill germs in general.  It facilitates washing foreign matter, dirt, and so on (which may host pathogens) from the hands.  There are some soaps with antibacterial agents added, but I won't go into whether they are effective, or even a good idea, as this is not the forum for that.

Typical food service sanitation standards (that is, the health codes) require either sanitzing agents or certain heat and time requirements (or both) in dishwashing to ensure proper sanitation.  See this typical regulatory summary from one jurisdiction.  

This FDA document may fall into the category of Too Much Information, but the point of hand washing in food service (as important as dishwashing) is to control fecal bacteria.   

Even these requirements do not kill all germs, but are intended to get to a reasonable level of cleanliness and safety for the average population for the types of threats typically related to food preparation.  

Hospitals and other labs that require all pathogens or microfauna to be killed must use much more stringent measures to sterilize, rather than sanitize.

Edit:  Note that the referenced question about cleaning knives also has temperature standards (the time required is not mentioned in the post, but is important)--that is the real factor that provides sanitation, not the soap.  With the reduced temperature, not that the post talks about the need for "chemical additives" which would be sanitizing agents of one sort or another.  

I believe the part of the referenced answer that concludes in the author's opinion that should use soap to sanitize is... well... its not quite correct.  There is more to cleanliness than sanitization (reduction of pathogens).  Its just that soap doesn't help with the sanitization part other than removing foreign matter which may provide a place for the pathogens to grow.

Most home folks will never truly sanitize without the use of a dishwasher as the water from the hot water heater is simply not hot enough, and most homes don't have three compartment sinks where the middle sink is used for a sanitizer dunk.