If you have soaked (and rinsed) any beans long enough for them to be chewed easily, you're OK. Folks have been eating bean sprouts (almost any variety) for millenia.
I either sprout them for salads, or soak them for a few hours to speed up cooking time dramatically.
Canned beans should be your last option...
By the way, if you're buying "Silk" soy milk, please do some research about the source of this product. There are better soy milks, and there are also nut "milks". Both are far better than milk from another species.
You might want to read my first book, "The Weaning of America: The Case Against Dairy Products and 12 other essays..."