Blenders will work fine for soy milk making. The procedure could be,
1) Soak soybeans for a few hours or longer, till it's fully bloated.
2) Transfer the well soaked soybeans to the blender, add a little bit water if it's necessary(to make the chopping/blending easier and smoother).
3) Close the blender lip, start chopping/stirring till beans are minced well.
4) Pour all content into a pot and add 2 to 3 parts of water, boil on medium heat and stir the bottom from time to time, like preparing Rice Chow (Xi Fan). Let it stay boiling for 5 mins or longer.
5) Drain the soymilk to a dried/clean container, add sugar or other flavor according to the taste.
Then it's ready to serve. One 1b of soybean can produce a large amount of soymilk through several batches. If people do not care that much, the soybean paste is edible too(With sugar and after refrigeration, pretending to be ice cream but less fattening).