Does the order of preparation steps for soy milk make a difference?
I know I am joining the conversation late, but I wanted to share my experience with making soy milk in two different ways.  First method tried: soak, blend, strain, boil. This method produced a milk with a strong soy flavor but also a LOT of okara (perhaps my blender is wimpy?). 

Another time, I soaked the beans in a crock pot, and then, just out of habit from making other beans, I started cooking them after they had sufficiently soaked.  I LOVED the result.  Cooking the beans produced a much milder bean with an almost sweet flavor.  True, this version was much more like a soy cream (depending on how much water was added) when blended, but I liked it so much better than the grainy, almost vegetable-tasting traditional soy milk.  

I think it much improved the flavor and texture, and plus, I could then add some of the cooked beans to various dishes to add extra protein where needed.