Yes, rajma can be cooked without soaking but highly recommend soaking the beans as it aids digestion, prevents flatulence (gas), and also helps cook the beans faster. To cook rajma in a pressure cooker without soaking - add the rinsed beans along with the same amount of water (1:1) and pressure cook for 1 whistle. Allow the steam to release naturally. This state of rajma is the same as if they were soaked. Follow the recipe as listed to cook beans and make rajma masala. To cook rajma in an Instant pot without soaking - Cook for longer like 60 -70 mins on high pressure in bean chili or manual mode followed by natural release.