After soaking the beans, boil lots of water. Grind the soaked soybeans with the boiling water. If you don't have a steel blender use hot water, and grind the beans,be careful to avoid burns. Strain through cheesecloth and then boil the milk. I add soy lecithin and sweetener.
Some recipes suggest oil and honey.
Chill it and enjoy. Most recipes call for heating the milk. You may also want to add some oil, vanilla and a pinch of salt to the milk. One way to reduce the beany taste is to cook the milk once it's done. Another way is to heat everything before pureeing.