Place the almonds in a blender container or measuring cup and cover with cold water. Let sit overnight for at least 8 hours or as long as 24 hours to soften.
After allowing the almonds to soak, strain and transfer back to the blender. Add 4-5 cups of cold water (total amount will adjust creaminess), the maple syrup, vanilla extract, and salt. Cover tightly with lid and blend until very smooth and creamy. The milk will be white and the almond should be finely blended.
Set a nut milk bag (or cheesecloth lined fine meshed sieve) over a large container of your choosing (make sure it is at least one quart in size). Pour the almond milk slowly into the nut milk bag, allowing the milk to drip into the container, separating the almond pulp.
Press down the nut pulp with a spatula to drain any additional milk. Chill and store the almond milk in the refrigerator. Best used within 2 to 3 days, shake well before using.
Discard (compost) the almond pulp or dehydrate and use it for various baked goods.