for me, the only form of soybeans that i approve of, is miso. it's the only form in which the hard proteins and foreign, non-animal peptides it is composed of, are largely eliminated through bacterial/fungal decomposition.
it doesn't entirely eliminate the problem of the toxic soybean oil (and what that carries with it, thanks monsanto) however. my sister always used to say, that all seeds should be either sprouted or fermented. any other preparation method creates issues with immune reactions to the proteins and issues with kidney and liver caused by the polyunsaturated fatty acids (PUFAs)