Place the soaked soybeans in a blender.
Add an appropriate amount of water and blend until smooth.
Strain the blended mixture using a fine cloth or nut milk bag.
Pour the strained soybean liquid into a pot and simmer over medium-low heat, stirring occasionally.
When it starts boiling, remove any foam or skin and continue to simmer for another 10 minutes.
Let the finished soy milk cool and enjoy.