Ok - given your clarification try the following:
- Rinse your beans before handling, through transport and storage dust accrues and can increase their natural nutty flavour.
- Blanche them in boiling water for roughly 90s. Then strain and rinse under cool water in your sink (have a catch of some kind to prevent bits of going down the drain).
- Cook as normal but add a pinch of sugar (can't say for sure how much, as I don't know the volume you are making).
- When cooked/milked, strain again, and then let it rest in the fridge until cool.
This is exactly how I make mine (I make both varieties though), and there is very little (if any) beany taste left. In fact, sometimes as a result (mind you I use the same beans everytime) it comes a little bit nutty.