The reason you soak beans is not to improve the flavor. It is to dissolve the flavorless and indigestible sugars that give you massive bean-gas when you eat them. If you soak beans well before cooking -- then change the water and cook them -- then change the water again and rinse them well before finishing the cooking process -- you will have a tasty, nutritious treat that doesn't make your ass explode!
That's right! You can have totally fart-free beans. Only most restaurants and chefs are totally oblivious to this fact, so you can't really trust prepared beans any time you go out. There should be a certified-fart-free label for the restaurants that really know what's up.