Split peas and lentils do not require soaking. They take a short amount of time to cook (about 20 minutes to 1 hour depending on the recipe). Dried beans on the other hand, do require soaking for at least 4 hours. (It is best to soak them overnight.ow to Use Beans, Lentils and Split Peas. 1  Cooked beans and lentils are versatile, and although they have different flavors and textures, they can often be used interchangeably in recipes. 2  In general, beans and lentils can be used as a topping on vegetable salads, or to add texture to rice, couscous or pasta salads.