Soak the soybeans for at least 8 hours.
Rinse the soaked soybeans thoroughly under running water.
Put the soybeans and water into a blender and blend until smooth.
Strain the blended soybeans through a sieve or cheesecloth.
Pour the strained liquid into a pot and bring to a boil over medium heat.
Once it starts boiling, stir with a spatula and simmer for an additional 3-5 minutes.
Let the finished soy milk cool before drinking.