The U.S. Heavy Ion Fusion program is developing superconducting focusing quadrupoles for near-term experiments and future driver accelerators. Following the fabrication and testing of several models, a baseline quadrupole design was selected and further optimized. The first prototype of the optimized design has achieved a conductor-limited gradient of 132 T/m in a 70 mm bore, with measured field harmonics within 10 parts in 104. In parallel, a compact focusing doublet was fabricated and tested using two of the first-generation quadrupoles. After assembly in the cryostat, both magnets reached their conductor-limited quench current. Further optimization steps are currently underway to improve the performance of the magnet system and reduce its cost. They include the fabrication and test of a new prototype quadrupole with reduced field errors as well as improvements of the cryostat design for the focusing doublet. The prototype focusing units will be installed in the HCX beamline at LBNL, to perform accelerator physics experiments and gain operational experience. Successful results in the present phase will make superconducting magnets a viable option for the next generation of integrated beam experiments.