Precharge techniques for heavy motors
A stalled motor will draw more current from the same voltage than a rotating one.  There is no way around this.

You can externally limit the current, but note that this will decrease the torque.  If the motor can still start with this decreased torque, then this is a viable option to guarantee some maximum current level won't be exceeded.  If the motor requires the high stall current to get going, then there is nothing you can do about it.