This recipe will also work for hazelnuts and almonds. Note that recipe requires overnight soaking.
As noted, soak the nuts overnight in cold water. Then drain.
Place the ingredients in a powerful blender (see notes). Puree until smooth.
Place a large piece of cheesecloth or a nut milk bag over a large bowl or inside a gallon sized Mason jar (see notes).
Pour the pureed nuts into the nut bag or cheesecloth. First let it drain through on its own, but toward the end you will need to squeeze it as dry as you can get it.
Now you have nut milk! Remember to shake before using. Store in the refrigerator for up to 5 days.
I used my Preethi Nitro 4-Jar Mixer Grinder for this, but after blowing out the motor a few times (that grinder is pretty old) I decided to purchase a Vitamix E320 Explorian Blender, which is what I will use in the future. Be sure you are using something similarly powerful.
I purchased a nut bag, specifically the PRO QUALITY NUT MILK BAG Commercial Grade - Reusable Almond/Soy Milk Bag & ALL PURPOSE Food Strainer, and it definitely made life a lot easier.