I had soft grips (not Puppies) on one of the BMW's when I bought it. I also didn't like the soft, no feedback , feel. I took a different approach. An approach I have used on the BMW and other bikes in the past.
If you have some random lengths of paracord (or similar size cord) wrap the grips with it. I used the larger 550 Mil Spec cord (4 mm). I believe I needed 6 - 8' for each grip.
It is an 'old salty sailor' trick. Begin with a loop lenghtwise on the grip. The first couple of wraps are somewhat tricky to do without loosing the first part of the loop. But, try to keep the loop straight and parrallel. make the wrap snug, but not too tight or you won't be able to pull the free end in to finish the project. The last wrap is put through the open end of the loop. It is then pulled under the wraps using the short exposed end of the loop where you started wrapping. Cut off the excess ends and you are finished.
jim