Have now tried it! And made some adaptations. It passed Caia approval at first but then she changed her mind. It has a strong flavour. Seems like it was fine for cereal, making pancakes etc. But a little intense for coffee or drinking straight. I would like to try it again with different proportions of vanilla/ sugar. But before that I am going to test the almond milk recipe..
Rinse 2 cups of dry soy beans. Then soak over night.
Drain and rinse.
Cut old very light cotton blouse (has some stains) for cheese cloth. (Make sure it is clean.)
Place cheese cloth equivalent in strainer over large pot.
Liquify the soaked beans in a blender- proportion of 1/2 cup beans to 1 cup water.
Put each small batch into cheesecloth and carefully squeeze liquid out.
Place solids in bowl. And repeat till all beans used.
Boil soy milk for 10 minutes (watch out for boiling over- bubbles fast).
Add sweetener. I used 1/4 cup honey and 1 tbsp vanilla and it was quite sweet (but does balance strong soy flavour).
Let cool- strain one more time to remove skin.
This made at least 2 litres. I stored it in glass jugs (should last 1 week).
Note: not fortified with calcium- so make sure you are getting calcium elsewhere.
Cost: $2 from Whole Foods (plus a little for honey and vanilla) (lowest comparable purchased is $3, average though is $5). Savings $3.
Time: 2 minutes to soak and rinse, 15 minutes for main process, 10 minutes to boil (time to tidy), 5 minutes for additional work.
Waste tally: soy remains (can use for fertilizer or cooking).
Waste avoidance: 2 tetra packs at least!!

