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How to make my own soymilk
How I did it: I sprouted soy beans (a LOT of soy beans) for three days (well, soaked for one, sprouted for two), and on the third day blended beans and water in a specific ratio till all the beans were blended. Squeezed out all the extra material produced by the beans (okara, save it for later) through cheesecloth a couple of times and then simmered the milk for half an hour.
Sieved once more, let it cool, put it in containers and added a little bit of salt for flavor and dimension.
As you simmer the milk, you'll see a skin form on top. Carefully skim it off as it becomes more solid and drape it over chopsticks or similar devices. This is yuba, and you can use it as fake meat or wrapping.
Lessons & tips: You can cook the beans first, sprout them or blend them up dry with the water. I personally like the beans sprouted because I can eat the extra sprouts in salads, stir-fry or as popcorn.
Plus, if you blend the beans dry, you MUST cook the okara before using it, otherwise it's undigestable.