Rinse dried soy beans under cold water and transfer to a large measuring cup filled with cold water. The ratio should be 2:1 water to soy beans. Leave it to soak over night.
Drain soaked soy beans and transfer to a blender. Add water, agave nectar, and seeds from vanilla bean. Blend for 3 - 5 min., or until smooth.
Strain milk through a cheesecloth. Add more water and agave syrup to taste. Enjoy hot or cold!