This paper proposes a method of measuring and imaging the stiffness of human soft tissue to diagnose cancers or tumors which have been difficult to detect in ultrasound B-mode imaging systems. To measure the soft tissue stiffness, sinusoidal vibrations are applied to it, and the magnitude of its mechanical vibration is determined by estimating the temporal variation of speckle pattern brightness in ultrasound B-mode images. It is verified by simulation and experiment that the proposed method can estimate the relative tissue stiffness from B-mode images with a relatively small amount of computation.