Rinse soybeans thoroughly and soak for at least 8 hours.
Peel the soaked soybeans.
Add soybeans and water to a blender and blend until smooth.
Strain through a fine sieve to collect just the soy milk.
Pour the soy milk into a pot and cook over medium heat, stirring.
Reduce heat to low and simmer for 15 to 20 minutes, stirring continuously.
Season with salt or honey to taste.
Let it cool, then transfer to a container for storage.