Is it possible to make soymilk without a "beany" taste? I've made soymilk several times using dried beans. I've done it using a pot of boiling water to cook the pre-soaked beans, blending in a blender, and straining. I also have a SoyaJoy soymilk maker. No matter what I've tried, I always wind up with a "beany" taste, certainly like nothing you get at the grocery store which always tastes so delicious. I honestly don't know how they make soymilk taste so unlike soybeans! I've tried blending with oats, adding sweetener (which I don't like doing), etc. Does anybody know if it's possible to make home-made soymilk taste like store-bought?
The beany flavor is destroyed by heat. Some recipes do call for boiling the beans before grinding as you said. 

Most recipes that I have seen call for boiling the milk for a while after it has been strained. I find this more convenient as the milk is strained and pressed cold and then heated.

If your milk is still excessively beany then you may not be boiling it long enough to break down those indigestible compounds.

As for making it like commercial- most commercial soy milks contain a lot of extra ingredients to enhance the flavor and texture. Vanilla and sometimes sugar are added as well as calcium carbonate for creaminess, preservatives, etc. You can experiment with these if you would like but I found that I developed a taste for the flavor of fresh soy milk. It seems crisper and more naturally sweet to me than store bought.