The authors give a prescription for the application of the inverse scattering generation technique of Belinskii and Zakharov (1978,1979) to perfect fluid cosmological seed solutions in the context of a five-dimensional Kaluza-Klein formalism. As an example they present a two-soliton metric generated from a Friedmann-Robertson-Walker background with a perfect fluid which follows a general gamma-law equation of state. The resulting solution becomes asymptotically the background for large times.