Short Summary to prepare Almond Milk To prepare almond milk soak 1/2 a cup of Almonds overnight for the best result. . If you want you may peel the skin or just grind these along with the skin as I did in this recipe. Then grind them in a blending jar using around 3 cups of water, to prepare smooth pouring consistency milk.The next, step is to strain the milk using a cheesecloth to achieve a super fine texture just like the store-bought ones and enjoy the way you like.