The invention concretely relates to a cooked soybean milk making method. The method comprises the following steps: 1, choosing a material; 2, cleaning; 3, immersing; 4, cleaning to remove impurities; 5, steaming or boiling the soybean raw material; 6, mixing the soybean raw material with water, and crushing; 5, detecting the concentration of the obtained soybean milk; 8, boiling the soybean milk; 9, carrying out high pressure homogenization on the soybean milk; 10, carrying out instant high temperature disinfection on the soybean milk; and 11, cooling the soybean milk to 0-15DEG C, and filling. In the above steps, steaming or boiling of the soybean raw material is carried out at a temperature of 100-121DEG C for 1-3h, the water-containing soybean raw material is crushed to above 60 meshes, and the high pressure homogenization of the soybean milk is carried out by a high pressure homogenizer. The soybean milk making method adopting the steps changes traditional uncooked soybean crushing habit, avoids the soybean residue removal step of traditional soybean milk making methods, fully reserves the nutritional components of soybeans and crude fibers and celluloses beneficial to human bodies, improves the nutrition values of the soybean milk and guarantees the mouthfeel of the soybean milk.