Add 3 cups of water to the soybeans. Use an immersion blender or regular blender to blend the soybeans and water together until a thick consistency.
In another pot, place a fine mesh sieve over the pot. Then add the cheese cloth on top. Pour some of the soybean mixture onto the cheese cloth. Using the cheese cloth, squeeze the liquid out from the soybean mixture. Gather the ends together and hold them tightly with one hand. Then use the your other hand to carefully squeeze out the liquid. Don’t worry if some of the soybean pieces fall out of the cheesecloth. That’s what the sieve is for. Work in batches so the soybeans don’t overwhelm the cheese cloth.
Once you’ve squeezed out all the liquid, add another 1 1/2 cups of water to the soybean grounds. Stir and repeat the process from the previous step.
After you have all the soy milk in the pot, pour it into a large bowl. Clean the fine mesh sieve and place it on top of the first pot. Pour the soy milk over the sieve into the first pot. Straining the liquid twice ensures you have little to no soybean particles in your soy milk.
Place the pot on the stove and heat the soy milk until it boils. Make sure to stir the milk every few minutes to prevent the bottom from burning. Turn off the heat.
Add the sugar and mix.
Pour the soy milk into a container and store in the fridge. I like to store it in the fridge overnight because I like my soy milk cold, but you can also drink it warm.
Notes
For tips and tricks including adjustments to the sugar and tips on squeezing the liquid out from the soybeans, please refer to the blog post!