We have been making soymilk & tofu at home using only a generic blender
for 10+ years.
The processes are very simple, ie
* soak beans 6 - 8 hours
* liquify in blender
* cook -- water ratio to taste -- 3, 4, 5, to one blended unit
* filter
The main variations which you can experiment with are whether :
* to cook beans first then grind
-- or grind soaked beans raw
* to filter out grinds (okara) before or after cooking
ie to cook filtered soy-water only;
or to cook 'okara' grinded beans then filter
* (we like to cook beans, then grind, cook okara, then filter --
richer)
Various methods have differing tastes
A website that can explain this better than I can:
http://www.atlantic.net/~soymilk
click "Soya Bean Milk", or
http://www.atlantic.net/~soymilk/sprouts.htm
same site
hjm