I have made soymilk and tofu a few times. All the recipes I have looked at say that you must remove the skins from soybeans before making soymilk, but none of the recipes explain why you must do this. It's kind of a pain and I'd like to skip that step if I could do so without ruining the end product. Do you know why it is suggested that we remove the skins from soybeans before making soymilk and if it is worth the time and effort? Thank you very much for your advice!
I've never heard of the advice to remove skins from re-hydrated soybeans before processing into soy milk. It does sound like a hassle (is it even possible?). I just grind them in a quality blender before heating. I've never noticed any problem.
Some people believe it causes a beany flavor. To me it adds to the fragrance. I even use the soak water when grinding. While it is unnecessary for soymilk and tofu, it is necessary for tempeh as the intact skins are a barrier to fermentation. Hope this helps :-)