I have found several recipes, all similar, w/ one exception. The exception fixed my soy milk making problems: too strong a "beany" taste, tasted like "Tofu Milk", etc.

I take a quantity of soy beans (usually a cup) and rinse it a couple of times. Put it in a container with warm water over-night (soak 8-12 hours minimum), rinsing a couple of time for good measure. Beans will swell up to 3-times the original volume.

Drain and drop soybeans directly into three cups boiling water containing 1/4 tsp. baking soda and blanch for five minutes.

Drain and rinse with hot water.

Repeat above two steps (blanch, drain) again, only using a pinch of baking soda. (Occasionally, I don't make a full batch in one sitting, so I wind up doing THREE blanchings, total, and storing the un-used beans in water, in the refridgerator where they will keep for several days)

Fill your blender with as hot of water as you can put in it -- to pre-heat it for...

Add 1 part beans to 3 parts water and bring ALMOST to a boil (or bring to boil and let it back off a little) -- I try for 180 degrees minimum. Empty the hot water from the blender and pour the water and soy beans in, and grind.

Grinding while HOT is the key to getting rid of the beany taste, and the blanching before grinding gets rid of the need to simmer the soy milk after draining.

PLEASE hold the top of the blender down securely, and start the blender on low and work your way up to high speed. I can speak from experience that it is PAINFUL getting hit with almost boiling water because I wasn't putting enough pressure on the lid, and turned it on to HIGH.

The recipe recommends grinding for 3 minutes, but I rarely need to -- it's much too fine to easily filter as it is.

Drain when it's cool enough for you to handle it. Pour the soy meal milk through muslin and squeeze as much of the milk from it as you can. You may need to stir the mush around to move the soy particle from the openings in the mesh, otherwise, it just stays clogged.

I usually add my flavorings at this point, while it's still hot. A little vanilla to taste, honey, salt, etc. I have tried using sweet-n-low, but real sweeteners seem to add to the thickness of the finished product.

The left-over bean "goop" is called Okara, and can be used in breads, meats, etc. as a protein filler. I have saved it and heated it for breakfast, w/ a little honey and warmed soy milk, for my own "cream of soy". Refrigerate the okara and it should keep for a few days.

Some recipes called for a 6:1 water:bean ratio, but I find the 3:1 makes a nicer, thicker milk. Try it both ways, and I think you'll find your own preference. 6:1 was too watery for me, but I was also experimenting w/ the sweet-n-low.

Stir it before drinking/serving, as you WILL get some sedimentation. If you filtered well, then it shouldn't be too bad, but my first batches would leave a very thick sediment (basically soy milk in finely ground okara)... it's ok to eat like a gruel, but you can't really "drink" it.
;-)

Don't burn yourself.

There you have it. Setting up the beans doesn't take as long as it sounds, and once you have a quantity blanched, you can leave 'em in the frige until you're ready to make a batch. I figure that, aside from squeezing the remains from the okara, it takes me 15-20 minutes per batch, and I make about a quart and a half from each batch.

Soy beans cost me 75 cents a pound, and I get 5 cups to the pound, so dry beans are 15 cents a cup. That cup soaked makes about 3 cups, which makes 9 cups of "milk", or 72 ounces (I'll round down to 64 oz). So, by my calculations, my soy milk costs me about 30 cents a gallon.