PROBLEM TO BE SOLVED: To provide a method for continuously mass-producing without using Jigama, soybean curd having nice-smelling flavor like soybean curd produced by using Jigama and direct fire, and to provide a soymilk heating device for the method.SOLUTION: This soymilk heating device includes a heating tank 2 formed in a gutter-like state, a burner 3, a scraper 4, and a burnt lees collecting device 5. The scraper 4 is formed to continuously move from a start end 2a to an end part 2b of the heating tank 2 in a condition that a blade 8 going around the lower side of an orbit partitions an inner space of the heating tank 2, and an edge 8b on the end is brought into contact with a bottom 2f of the heating tank 2. The burnt lees collecting device 5 is so formed that an endless filter 10 is supported so as to go around on an orbit around a horizontal axis and partially sink in soymilk in the heating tank 2, and catches burnt lees scraped off from the bottom 2f of the heating tank 2 followed by raising from soymilk in the heating tank 2 to collect.
