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Soak the soybeans in water overnight (ideally 12 hours or longer).
Drain the soybeans and remove the outer skins. Removing the outer skins is optional, but your milk will have a better texture if you do.
Blend the soybeans with 3 cups of water (750 ml) until well blended and almost smooth.
Strain the blended mixture using a nut milk bag, a cheesecloth, a napkin or a fine mesh strainer.
Pour the mixture into a pot or a saucepan and add 1 cup of water (250 ml). Bring to a boil, stir and skim foam.
Cook over medium heat, stirring occasionally, for about 20 minutes.
Let cool the soy milk. You can add other ingredients such as vanilla extract or dates. Blend the mixture if necessary.
Keep leftovers in a sealed container in the fridge for about 3-5 days.