Soak the soy beans in filtered water over night. (at least 8 hours) Rinse with clean water and cover with more water. Agitate the beans to loosen skins. Remove skins and drain.
Place the beans in a food processor with 2 1/2 cups water and process for 3-5 minutes.
Line a large bowl with cheese cloth and pour the mixture in. Pour the rest of the water (2 1/2 cups) over the mixture.
Strain and squeeze all the liquid from the soy beans. Save the pulp (okara) for another use.
Place the beans in a large sauce pan and bring to a boil over med/high heat. Turn the heat to low and allow the mixture to simmer for about 45 minutes. Stir the mixture occasionally while cooking.
Add the agave and vanilla and mix. Chill and serve.
Soy Creamer:
Place 2 cups of the homemade soy milk in a medium sauce pan.
Simmer on low until reduced by half. Add the vanilla and agave and mix. Chill and serve.