We have developed a flexible radio-frequency readout system suitable for a variety of superconducting detectors commonly used in millimeter and submillimeter astrophysics, including Kinetic Inductance detectors (KIDs), Thermal KID bolometers (TKIDs), and Quantum Capacitance Detectors (QCDs). Our system avoids custom FPGA-based readouts and instead uses commercially available software radio hardware for ADC/DAC and a GPU to handle real time signal processing. Because this system is written in common C++/CUDA, the range of different algorithms that can be quickly implemented make it suitable for the readout of many others cryogenic detectors and for the testing of different and possibly more effective data acquisition schemes.