the active recovery workout outlined by jpm is one option.
another option is to wait until its not sore anymore.
personally, i have gone back and forth on this one. over time ive come to agree with dorian yates, that we dont get paid to go to the gym, and there is no benefit to working out a muscle before its healed from the last workout. i also tend to agree with a poster here named vince basile, by thinking that DOMS (muscle soreness) is a likely indicator that rapid hypertrophy is taking place within that muscle. even if soreness doesnt indicate growth, i still notice that the muscle is definitely not as strong when you work it out sore compared to when you let it heal first.
the key here is to find a training volume/intensity that produces results, and then find a matching frequency of training to capitlize off that particular volume/intensity. if you find out that a lower volume of training works best, then youl probabvly want to train the muscle more frequently, and if its a high volume that wors best, then youl probably want to train it less frequently. of course, you dont want to wait too long, or too little before working out the muscle again. soreness may help you determine how frequent you should train each muscle.