Wash soybeans thoroughly and soak in water for at least 8 hours.
Remove the skins from the soaked soybeans.
Put the soybeans in a pot with 300ml of water and boil for 10 minutes.
Blend the boiled soybeans together with the cooking water until smooth.
Strain the mixture through a fine sieve or cloth to extract the soy milk.
Transfer the soy milk to a pot and simmer on low heat for an additional 5 minutes.
Add salt, honey, or other seasonings according to your taste and enjoy.