Let's talk about the word SORRY!
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It's an arbitrary word for a toddler to understand. The purpose of the word sorry is to convey remorse and understanding of your wrongdoing. Now, how does that translate to a toddler? Instead of forcing them to use the word sorry, squat down and firmly explain that they gave someone an ouchie. The consequence should not be seen as a punishment, rather an action, meaning "Ask them if they are ok? Do you need an ice pack?" 🤕🤕🤕
Does this often involve unnecessary usage of ice packs? Yes, but it helps get the point across to them. 
You also need to model this as a parent too! When they get hurt you say: Are you ok? Do you need an ice pack?
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