Wash raw soybeans thoroughly and soak them in water for at least 8 hours.
Drain the soaked beans and rinse them again.
Put the soaked beans and water into a blender and blend until smooth.
Pour the blended mixture into a fine cloth and strain to separate the soybean liquid.
Pour the strained soybean liquid into a pot, then cook over medium heat for 10–15 minutes while stirring.
Let the cooked soy milk cool and it's ready to serve.