One has to make the worst case scenario--that the person in the water cannot help, lift, climb etc to get aboard. Then devise the lifting system based on that. I have a couple of 6:1 block and tackle sets which we generally have used. The come along has a couple of disadvantages on the boat. Most have steel cables, and get "hooks" in the able. The cable can abraid, and the come along is relitatively slow in comparison to the block and tackle--but it is more powerful. The come along has to be operated from a specific place--a block and tackle can be fair lead to be used from many places on the boat. Thus you might pull, on the tackle--and then help to guild the person as you keep pulling on the tackle. Just things we have learned from our experiments.
Yes, a 40 hp would lift a person--but they have to get their feet on the cavitation plate, be in a position to roll in the boat, and have the leg strength to stand as being lifted--and hold on with hands. I have seen people die from hypothermia, even in S. Calif high 60's water along side the boat--when the crew could not get them fully aboard. It should not happen...