Rinse soybeans and discard water.
Add soybeans to a large bowl and cover with water, about 2 inches above the soybeans.
Soak soybeans overnight or for 8 hours.
The following day, remove the soybean skin and rinse the soybeans. Add 1 cup of soaked soybeans along with 3 cups of water to the blender and process until smooth. Repeat until all the beans are processed.
Strain soymilk using a nut milk bag or cheesecloth and set the pulp aside to make patties.
Transfer the soymilk to a large pot and bring to a boil, stirring constantly with a wooden spatula. reduce heat to a simmer and cook for 30 minutes. If a film occurs on the top, remove it and save it, it is tofu skin.
Allow soymilk to cool, and stir in salt, vanilla, and your favorite sweetener. Keep refrigerated.