Origins
The oldest evidence of soy milk production is from China where a kitchen scene proving use of soy milk is incised on a stone slab dated around AD 25–220. It also appeared in a chapter called Four Taboos (Szu-Hui) in the AD 82 book called Lunheng by Wang Chong, possibly the first written record of soy milk. Evidence of soy milk is rare prior to the 20th century and widespread usage before then is unlikely.
According to popular tradition in China, soy milk was developed by Liu An for medicinal purposes, although there is no historical evidence for this legend. This legend first appeared in the 12th century and was not clearly stated until late 15th century in Bencao Gangmu, where the development of tofu was attributed to Liu with no mention of soy milk. Later writers in Asia and the West additionally attributed development of soy milk to Liu An, assuming that he could not have made tofu without making soy milk. This may be incorrect. In addition, some recent writers claim Liu An developed tofu in 164 BC.
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