They're traditionally a Japanese food, and found in the frozen food section. You can steam or boil them, and eat them like green peas. Don't eat the pod, just the beans inside. They also come out of the shell. They make a good side dish or snack.
Soy yogurt is another easy thing to try.
And the soy mock meats, to make sandwiches, to replace meats. You can use a light amount of nonstick spray to avoid sticking. Cooking with a vegetable base is also okay, like a tomato base. It's just a matter of getting used to it. Other methods are like steaming instead of saut ing, and things like that.