Start by soaking 1 cup of dried soybeans in water for 8-12 hours or overnight to soften them.
After soaking, rinse the soybeans thoroughly and drain the water to remove any impurities.
Add the soaked soybeans in a blender with 4 cups of fresh water. Blend until you get a smooth, creamy mixture.
Separate the soy milk from the pulp (okara) by using a nut milk bag or cheesecloth.
Bring the strained soy milk to a gentle boil in a pot, stirring occasionally to prevent sticking. Boil for about 15-20 minutes.
Once it cools down, enjoy in coffee or add with vanilla extract.
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