Soliciting means you 'seek to obtain by persuasion'. If you go door to door selling cookies like the girl scouts .. that is solicitation. If you stand on a soap box on the street and try to convince passers by that God is Real .. That is solicitation .. Because you are trying to convince them to believe the same as you. Political campaigns are also a form of soliciting They solicit for votes.
I can't see the relation between scouting and soliciting... One needs to complete a set of tasks and achievements to get to being an Eagle Scout. That requires you to solicit work, paid or unpaid to earn the badges as you progress..
Soliciting volunteer work by day as a boy scout has to be differentiated from soliciting clients on streets in the dead of the night...
The act of solicitation is not allowed by the law. It makes you expose innocent people to dangerous situation that can cause great harm. Severe punishments are taken for such acts. A skilled lawyer can inform you more on this.