The striker fired the ball in from the penalty spot in the second half of the 3-3 draw at CenturyLink Field yesterday evening.
The 29-year-old told the club's website: "The goal is important for my confidence, we all want to score, but most important is the work for the team.
"It's all about learning how the head coach [Mauricio Pochettino] wants us to play and physical preparation and it was a good start to pre-season with this game.
"I want to work hard for the team, I believe in the team and the head coach and I think it's all positive for us to have a great season."
Soldado scored 11 goals for Tottenham during his first season at the club.