The easiest and best way to make soydrink yourself is to use a soymilk machine. I first tried it by hand a couple of weeks to see if I liked it. It's more pure then what you get from a factory, but that also means less aromatic. So you have to sweeten it yourself.
But when you make it yourself it's much cheaper and you can use the whole soybean. You use the milk to drink and the residu, okara in Japanese, can be sweetened and flavored and then used as spread on bread.
One liter in the supermarket cost me 89 eurocent and now that I make it myself it cost me 14 eurocent or less. I used to drink about one liter a day to get enough calcium and B12, but now that I have switched to my own I use only two glasses a day because that is really powerful enough. Enough proteins and pure power. That saves me at least 25 euro per month.
At present I use 60 grams / 2.12 ounce for 1.2 liter / 1.3 quart (US).
I get 6 glasses from one batch so one batch is enough for 3 days. I plan to switch to 50 grams / 1.8 ounce because it's still too strong for me. Too rich in protein; I also use pulses with dinner, that's why.
If you do it by hand you might need some extra beans. I originally started with 80 grams / 3.17 ounce.
You best experiment yourself with the right weight for the desired result.
The procedure for soymilk by hand:
Put the soybeans in a large enough cup and soak it in water for 8 to 12 hours. I always let it soak overnight.
Flush of the beans under streaming water. This is important because the beans release a kind of acid that has a tendency to induce a soft diarea.
Get fresh water to make the milk.
Use half of the water and half of the beans and mix it in a blender for 2 minutes at least.
Pour the mass in a cooking pan and set it to cook.
Get the other half of the water and beans and mix them too in a blender for 2 minutes at least. Add it to the mass in the cooking pan.
(Two times half the mass and water mixes better then one time all the beans and water.)
When it boils let it boil softly for about 10 minutes.
Seperate the mass from the milk with a fine cloth. Save the milk in a can.
I used cheese cloth for the seperation. That's a special type of cloth especially designed to seperate liquid from mass. I don't know if this is the correct english word, it's the literal translation of 'kaasdoek'.
Add a little salt to the milk for some basic flavor.
It can be stored in the fridge for about 3 days.
Slight variation:
Put the soybeans in a large enough cup and soak it in water for 8 to 12 hours.
Flush of the beans under streaming water.
Get fresh water to make the milk.
Pour the water and the whole beans in a cooking pan bring it to the boiling point. You can also first heat the water in a watercooker and then put it all in a cooking pan. Might save some gas and works a little quicker.
When it boils pour everything in a blender and mix it for 2 minutes at least.
Pour everything back in the pan and get it back to boiling.
When it boils let it boil softly for about 10 minutes.
Seperate the mass from the milk with a fine cloth. Save the milk in a can.
Add a little salt for some basic flavor.
It can be stored in the fridge for about 3 days.
The second method may result in a finer soy mass/past because the mass is heated. If it's finer it will better release it's nutritions to the water.
My soymilk machine first brings the whole bunch to boiling point and then it mixes it a few times during the boiling process. That's whay I added the second method. It works better.
I hope it's clear enough. Ask away if not.