I just wanted to let everyone know that I found a really easy way to make soymilk at home without one of those expensive automatic machines. I got what is called a "nut milk bag" for $5 at the health food store, soak the beans all day (or night), blend them with water (amount of beans X 2), and then pour it into nut milk bag. All you have to do is squeeze the soymilk right out of it, and the beans stay in the bag. Takes me about 5 minutes, and simple as pie. It also works great for almond milk, sunflower milk, etc.
Oh yeah. I forgot that part. At the end, I just bring it to a boil, watching it carefully and stirring so the foam doesn't erupt and spill all over your stove! (happened to me the first time) A couple minutes of cooking, and it is done. You can drink some hot if you want, or let it cool and put it into the fridge and it will keep for about 3 days.
By the way, sunflower seed milk tastes pretty good too, and they are a lot cheaper to buy than almonds if you don't have too much cash to spend. I haven't tried sesame. Sounds interesting.