After reading several reviews, I settled on the top of the line SoyQuick. It comes with a recipe book. I was disappointed in the promises made of mung bean milk but generally pleased.

Once I adjusted to the flavour and texture, it's working well for soy and almond milk as well as tofu. It is a few minutes of work to make a batch of milk, closer to half an hour for tofu. By not buying commercial soy and almond milk or tofu, I've probably saved the cost of the machine over the past half year.