He will be ok if he's been normal for a week already. Just don't put him on surfaces that he can fall off in the future (though I'm sure you know that already.) A soft bump is normal: it's the fluid buildup from the fall.
When a baby gets a bump, if you apply vaseline to it immediately after he gets it, it prevents the discoloration in the skin. Cold compresses work for the swelling of course, but I have yet to meet a toddler or a baby that wants to keep a cold compress on his head for more than 2 seconds.