The invention provides a milk making method of a soybean milk maker. The milk making method includes the steps of smashing, heating and boiling. In the smashing step, a control system controls a driving device to drive a stirring cutter at a first speed to stir food materials for the first time after receiving a starting signal; in the heating step, the control system controls a heating plate to heat the food materials subjected to first stirring to a first temperature, and simultaneously controls the driving device to drive the stirring cutter at a second speed to stir the food materials for the second time; in the boiling step, the control system controls the heating plate to intermittently heat the food materials subjected to second stirring to a second temperature, and simultaneously controls the driving device to drive the stirring cutter at a second speed to stir the food materials for the third time. According to the milk making method, the stirring cutter continuously stirs the food materials in the steps of smashing, heating and boiling, so that the problems of smashing failure, layering and sticking during milk making in the prior art are effectively solved, milk made by the soybean milk maker tastes delicate, the soybean milk maker is simple and convenient to wash, and product quality is further improved.