I have the Soyajoy g4, there is a g5 now. I really like it because it does all the blending and heating automatically and has a sensor to stop it from foaming over. I still remove the pulp in a bag but I don't really mind.

Fresh soymilk is different but imo better than the store bought stuff. I love drinking it hot with date syrup and cinnamon something I would never do with boxed soy milk. The boxed soy milk often has thickeners in it and also an enzyme called amylase in it to convert the starches to sugar to make it sweeter without adding sugar to the ingredients, the home made version doesn't have either but it does have a really nice flavor imo.

@mosquibee has the self-cleaning Joyoung model which actually pours out milk without needing to be strained and takes care of itself just needs to clean the fiber basket when done.