Rinse the soybeans thoroughly and soak them for at least 8 hours.
Boil the soaked soybeans in boiling water for 10 minutes.
Remove the skins from the boiled soybeans.
Add cold water to the peeled soybeans and blend them until smooth.
Strain the mixture to separate the soy milk from the soy pulp.
Pour the soy milk into a bowl and add salt, sugar, or ice to taste.