A welding method includes the following steps: (a) determining a martensite tempering temperature of the at least two workpieces based, at least in part, on the chemical composition and microstructure of the woworkpieces; (b) applying sufficient energy to the workpieces to melt the workpieces at a target location, thereby creating a weld pool; (c) determining, via the control module, a target temperature and cooling range of a coolant and cooling range based, at least in part, on the martensite tempering temperature and HAZ width; and (d) cooling the first and second workpieces with the coolant such that a temperature of the workpieces at heat-affected zones is controlled below the martensite tempering temperature in order to minimize softening at the heat-affected zones. The present invention also relates to a welding system for minimizing HAZ softening.