I recommend using an electric pressure cooker with a pre-soak mode. I use the "Multigrain" mode on an Instant Pot LUX60 with the "More" option active, which acc

I recommend using an electric pressure cooker with a pre-soak mode. I use the "Multigrain" mode on an Instant Pot LUX60 with the "More" option active, which according to the manual gives 45 minutes of warm soaking followed by 60 minutes of pressure cooking in the same water. I use plenty of water and discard it after cooking to remove some of the indigestible oligosaccharides, and I do not find soaking in separate water to be necessary.