Copyright © 2018 Japanese Society for Food Science and Technology. Soybeans exhibit excellent functionality as a food and are often a dietary component for the elderly. In the present study, we examined the effects of heating and enzyme treatment on soybean texture. Cooked soybeans were prepared either by boiling or in a pressure cooker, with or without enzyme treatment, and soybean weight and physical properties were determined. Palatability was assessed by sensory evaluation and mastication was evaluated by electromyography. The results demonstrated that soybeans treated with enzyme and prepared in a pressure cooker require less time to soften, easily aggregate, and become palatable. Here we discuss the relationship between the physical properties, palatability and mastication of cooked soybeans.