Space before "xmlns" is missing if you fix that, it should work. Can you try..??
doc.LoadXml(@"<?xml version=""1.0"" encoding=""utf-8""?>
<soap:Envelope xmlns:soap=""http://schemas.xmlsoap.org/soap/envelope/"" xmlns:xsi=""http://www.w3.org/2001/XMLSchema-instance"" xmlns:xsd=""http://www.w3.org/2001/XMLSchema"">
<soap:Body>
<ShipmentResponse xmlns=""http://tempuri.org/"">
<parameter1>
tEST
</parameter1>
</ShipmentResponse>
</soap:Body>
</soap:Envelope>");