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