Place the drained soybeans in a medium saucepan and cover with 2-3 inches of fresh water. Bring to a boil.
Lower the heat and simmer, uncovered, for 30 minutes. Remove from heat and drain.
Return the soybeans to the pot and stir in the tamari, applesauce, and minced garlic.
Place the pot over medium heat and bring to a boil.
Lower the heat, cover, and cook for 30 minutes, stirring occasionally.
Uncover and continue simmering until the sauce thickens, about 5-10 minutes. The beans will remain slightly firm when cooking is complete.