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Soak the soybeans in water for a minimum of 8 hours.
Drain the soybeans and remove the tough outer skin pieces.
Blend the soybeans with 3 cups of water (750 milliliters) until the mixture is almost smooth.
Strain the blended mixture using a nut milk bag, cheesecloth, or a linen towel.
Pour the mixture in a saucepan, add 1 cup of water (250 milliliters), bring to a boil and then skim any foam that rises to the surface.
Simmer for 20 minutes and continue stirring occasionally as the liquid cooks to ensure no solids are burning on the bottom.
Let the soy milk cool to room temperature, and then you can add the soy milk flavors like vanilla, dates or any of the other fun combinations. Blend the mixture again if necessary.
Store the soy milk in a mason jar, bottle or milk container in the fridge for about five days.