I never thought I would actually have to milk soy beans to get their milk out, but that is exactly what I was doing!
I followed the instructions here. With a few exceptions, of course...
At first I removed the outer layers of the beans after they've soaked, per said instructions. A lot of them were very easy to peel, and practically came off of their own free will. Most of them, though, were more resistant. After awhile, seeing how many more beans I still have to peel, I decided to read the post and comments again, just in case I missed something. Sure enough, I did! One of the commenters mentioned that he doesn't remove the peel, and it may even add some fiber if you leave it on. Good enough for lazy me!
Other than that, I followed pretty much exactly, and here's what I got:
One quart of rich, creamy, soy-tasting drink. It was not the same as Silk or most other store bought soymilk, but it did remind me the soymilk-black sesame drink (minus the black sesame flavor) I got from an Asian store. I guess that makes sense. The soy flavor is pretty mild, and overall, I think it's a darn good drink!
I'm not sure I want to do it again, though. It was A LOT of work. And A LOT of dirty dishes to wash afterwards. I'm going to try another version, that cooks the beans before extracting the milk. We'll see if I like that method better.