In a large bowl, cover the soybeans in 6 cups of water.
Make sure they are submerged completely.
Set aside and leave to soak overnight.
When beans have finished soaking (about 8-10 hours), drain out excess water.
In a kettle or small pot, bring 3 cups of water to a boil.
In a blender or food processor, blend one-third of the beans with one cup of boiling water until pureed.
Pour into a large stock pot and set aside.
Repeat twice with the remaining two-thirds of the beans and add to stock pot.
Add 7 cups of cold water to the bean puree and slowly bring the mixture to a boil over medium heat, stirring continuously.
Once boiled, remove from heat immediately, cover with lid, and set aside to cool.
Once cool enough to safely handle, strain the mixture through a cheesecloth or a metal strainer into a pot.
Discard the pulp.
Add the vanilla and syrup to the milk and cook for 30 minutes on medium heat, stirring occasionally, in a double boiler.
(If you don't have a double boiler, you can use two different-sized pots. Put the milk in the smaller pot and water in the larger one.) Transfer to a pitcher or container and refrigerate.
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