There seems to be a fault in your question. You ask for the quantity of cooked soya beans to be expressed in ml which is a fluid measure. (You'd have to cook soya beans for an extremely long time to reduce them to fluid!).
If you'll accept an answer in grams, here goes:
Roughly 20% of a hamburger is made up of protein, so 110g of hamburger contains about 22g of protein. About 40% of soya beans is made of protein so the eqivalent amount of soya will be 55g.
The full cream milk in my fridge contains 3.3g of protein per 100ml, so 500ml of milk contains 16.5g of protein. Dividing by 0.4 gives the mass of soya with the same amount of protein. The 'calculator answer' is 41.25g of soya beans but the figure of 40% protein in soya (which we've been using) is only an estimate so it would be better to say that approx 40g of soya contains the same amount of protein as 500ml of milk.
Hoping this helps,
Chris
(PS: If you're still at school or college, then your maths or science teachers ought to be sacked! The SI abbreviation for 'grams' is 'g' and NOT 'gms' (which means grams-metre-seconds). When I was teaching maths I used up a lot of red ink on that one!).