Household soybean milk and tofu maker couples a housing and a main body, locks both, blocks a power supply when both are uncoupled, thereby preventing an accident, prevents impurities from getting into main body through an air vent, externally exhausts steam generated from main body through steam exhaust pipe while manufacturing soybean milk or tofu. Soybean milk and tofu maker includes filter net containing food materials including grain such as soybeans; container section including grinding blade for grinding food materials in filter net, and heater heating food materials ground by blade; cover connected to upper surface of container section and sealing container section; a main body including an insertion section receiving container section on upper portion thereof, drive motor contacting exterior surface of container section and applying rotational force to grinding blade, a controller controlling heater and drive motor, and a control panel controlling controller.