You can simmer the dried beans in three times the amount of water (e.g. one cup of beans to three cups of water), with some aromatics (onion, garlic cloves, halved lemons, bay leaves, bouillon etc.), for around one and a half hours. Soaking overnight will improve how easy they are to digest and help the beans keep their shape better, but isn't necessary. If you have a pressure cooker, forty minutes on high pressure should give you soft beans. For the Instant Pot, cook thirty minutes at high pressure and leave to naturally release.