For my soy milk, I soak about 1/4 cup dry organic soy beans overnight. Drain and rinse, then steam for about 15 minutes. Add those to 2 cups of filtered water and a pinch of salt in a high speed blender and blend until well combined. Strain out the okara (bean paste) and add in the additional cup of water. Sweeten to taste. This is enough for one person for several days. Double or triple the batch if you're feeding a family. =) Don't throw out the okara!
The recipe for the nog can be found here. =)