Denboku (@denboku2004) has created soft vinyl figures for companies and events like Wonder Festival since 2004. They’ve made figures for many series, including several from Osamu Tezuka, Shotaro Ishinomori, and much more. Below are the Unico related figures they’ve produced over the years.
Wonder Festival 2016 (Summer)

One of the early soft vinyl figures produced by Denboku is this Unico standing and looking back. It has pink hair, mint colored body, yellow hooves, and brown eyes. This figure was first sold at Wonder Festival in 2016 and then Wonder Festival 2017.
Wonder Festival 2020 (Winter)

This adorable figure features Unico lying down on his back. He has the pink hair and blue/green body with green eyes. He was sold at Wonder Festival in 2020 and possibly later on.
TOKYO ATOM Limited Unico Figure 2021

Made for the TOKYO ATOM store, this Unico figure is based on an original illustration by Osamu Tezuka where he’s sitting with his one hoof up. It was only available only through mail order or lottery from June 23rd to June 27th, 2021 for 6,600 Yen. The figure is around 8 cm x 5 cm.
Wonder Festival 2022 (Winter)
Both Chao and Unico were part of the set of figures sold during the 2022 Winter Wonder Fest. Unico is a color variant of the TOKYO ATOM figure and features a white body with pink hair and hooves. Chao has a real ribbon attached to the back of her head. Both figures originally sold for 6000 Yen.
Wonder Festival 2022 (Summer)

Tipi doesn’t appear in Unico related merchandise often, but Denboku made a soft vinyl figure of him for WonFest. His head dress has an actual feather attached, and he has eyelashes.
Wonder Festival 2024

The “Goodnight” (Oyasumi) Unico features him in a sleeping position. The colors for this Unico figure were based on the First Grader version of Unico. It has purple hair, a light blue body, and a white mouth area. The figure also features eyelashes. Unico is around 10 cm in length and cost 8000 Yen.