Soy bean cooking safety
You can't cook &quot;past the boiling point&quot; , unless you are using a pressure cooker...and a simmer is, technically, just below the boiling point.
You can learn about bean foam here.
Soybeans need to be cooked for human consumption in order to destroy the tripsin inhibitors. According to the information in the linked page, boiling soybeans for 14 minutes inactivates about 80% of the inhibitor...for 30 minutes deactivates 90%.  You can reduce this time with the higher temperatures of a pressure cooker.  However, while the inhibitor will be taken care of, as far as I can tell, your beans will not be &quot;cooked&quot;, or pleasant to eat yet.  The recipes I find suggest 3 to 4 hours of cooking on the stove-top.  Again, this can be shortened dramatically using a pressure cooker.