Traditional Four-Step Method by Bean Institute is a great article with four steps: (a) Clean the beans, (b) Rinse the beans, (c) Soak the beans, and (d) Cook the beans. They offer 3 different soaking methods: Traditional Overnight Soak method (8+ hours), the Hot Soak method (4 hours) and Quick Soak method (1 hour).
Soaking reduces cooking time. It also reduces phytates which help boost absorption of minerals like iron and zinc. However, I haven't seen WFPB doctors insist that we should really soak beans. If you have more information, please write to me. Thank you.
Changes in levels of enzyme inhibitors during soaking and cooking for pulses available in Canada by Shi et al, J Food Sci Technol, 2017 Mar; 54(4): 1014-22 says:
Yes! To make sure that lectins are destroyed. See Lectins for a details. An alternative to cooking is sprouting: Are Sprouted Beans Healthy?
Articles by Dr Greger:
Videos by Dr Greger & Dr Klaper:
(6 mins) Transcript. Dr Greger's summary: "How can we properly cook beans?"
Video summary:
After soaking, a variety of cooking techniques other than boiling may be adopted: simmering, boiling, braising, stewing, pot roasting and steaming.