Anyone made Soy Milk at home?

I bought a small bag of Soy Flour and there is a recipe on the back to make Soy Milk.

Has anyone done this? Is it worth the trouble? Is there something that I should be warned about? Like, does it foam all over the stove or anything like that?

I am on a quest to make a low carb shake for my husband as a treat.

Thanks,
Janice