Re-activate an instance after a wait state

Is it possible to send a message via SOAP, API or change DB status to a proces in a wait state and wake-up/resume this instance?

Yes,
You can achieve that by means of a pick activity. You can define another operation in port type definition section (within process wsdl). If you have created your process using asynchronous pattern, you can search for operation "initiate" in wsdl,and add another operation i.e.:
<portType name="Test">
<operation name="initiate">
<input message="client:TestRequestMessage"/>
</operation>
<operation name="wakeup">
<input message="client:WakeupMessage"/>
</operation>
</portType>
Once this operation and corresponding message is defined you can post a message to it by using api or a soap call and the process will wake up.
Cheers,
Rad

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