Soak soybeans overnight in filtered water. (About 5 or 6 C. of water)
Drain and add soybeans to a medium saucepan. Fill this saucepan with about 3 C. of filtered water and bring to a boil. Cook for 15 minutes.
Drain soybeans in a colander.
Remove skins from soybeans by rubbing beans against each other in your hands. To do this, I placed them back in the bowl I soaked them in and filled it with water (just tap). You can start to skim off the skins then.
Add one heaping cup of prepared soybeans, 1 T. of nuts and 1 t. sesame seeds to a blender with 2.5 cups of filtered water. Blend on Liquefy setting for 2 minutes, until well combined and milk begins to look thick.
Pour into a large bowl and repeat steps with second half. Unless it will all fit in your very large blender to do it all at once!
Combine and season with salt to taste.
Chill for as long as possible. Can be made ahead of time.