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Making soy milk from scratch used to be very labor-intensive. But modern soy milker appliances from Tribest and Miracle can make homemade soy milk and tofu in as little as 15 minutes. The process begins by putting the nuts into the nut chamber inside the milkers. Next, the soy milk machines turn the nuts into a fine grind which allows them to fall into a filter basket. Then water is boiled as nut shavings are steeped in the filter basket, which is where the milk comes from. Most units follow this pattern, though different models may vary in function.