Of course a hardware VPN will be more secure, when you compare like protocol to like protocol..
such as:
Software IPSec VPN
Hardware IPSec VPN
Hardware will be more secure, as you aren't exposing an internal server to the public internet.
Now which one is faster is soly dependant on the hardware in the machine vs. the speed of the hardware vpn machine you are testing.
The speed issue ranges amond Hardware VPNs as much as it does software.
Computer/Network Technician
CCNA