Soy milk (also called soymilk, soya milk, soybean milk, soy bean milk, soy drink, or soy beverage) is a Chinese milk-like beverage made from soybeans.

Soy milk originated in China, a region where soybean was native and used as food long before the existence of written records. Later on, the soybean and soybean foods were transplanted to Japan. Soybean or "vegetable" milk is reputed to have been discovered and developed by Liu An of the Han Dynasty in China about 164 B.C. Liu An is also credited with the development of "Doufu" (soybean curd) in China which 900 years later spread to Japan where it is known as "tofu".

The soybean's oil and protein provide nutrition to the germinating soy seedling, similar to how milk's protein and fat provide nutrition to the baby mammal.

Traditional soy milk, a stable emulsion of oil, water and protein, is simply an aqueous extract of whole soybeans. The liquid is produced by simply soaking soybeans, and grinding them with water. Soy milk contains about the same proportion of protein as cow's milk~ around 3.5%; also 2% fat, 2.9% carbohydrate and 0.5% ash. Soy milk can be made at home with traditional kitchen tools or with a soy milk machine (Soyajoy, Soylife, Miracle,...)

The Mandarin Chinese term for what English speakers call soy milk is D?u ji?ng (Chinese: ??; lit. "soy liquid"). In Western nations, soy milk is more commonly sold under the term D?u n?i (??; lit. "soy milk") than d?u ji?ng (??), although the two terms are often used interchangeably. However, there is a product in China that is called D?u n?i (??) which is a dry miscible powder made of both cow and soy milk.

The Japanese term for soy milk is touny? (??).

In the United States, soy milk is commonly available in vanilla and chocolate flavors as well as its original unflavored form.

In many countries, this product may not be sold under the name milk since it is not a dairy product, hence the name soy drink.