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Thoroughly rinse the black beans and soybeans under cold water. Soak them together in a large bowl filled with water for at least 6 hours to soften.
After soaking, drain the beans and place half of them in a blender with 3 cups of water. Blend on high speed for about 1 minute until the mixture is smooth.
Line a saucepan with muslin cloth and pour the blended mixture into it. Gather the cloth's ends and squeeze firmly to extract the milk into the pan. Repeat with the remaining beans and water.
Bring the extracted milk to a boil over medium heat, then reduce to a simmer for 1 minute to finish.