In a large saucepan over medium heat, bring water, soy milk, and salt to a simmer.
Stir the oats into the simmering water/milk mixture. Reduce heat to medium-low and gently simmer until the mixture is thick.
Continue to simmer, stirring occasionally so the mixture doesn't form a film, until almost all the liquid is absorbed and the mixture is thick and creamy, about a total of 30 minutes.
Take the oats off the heat and stir in orange zest, orange juice, and brown sugar (and a teaspoon of vanilla extract if you used regular milk or plain soy milk).
Serve immediately with desired toppings or allow to cool slightly before ladling into an airtight container and storing in the refrigerator.
To reheat: Spoon desired amount of oats into a microwave-safe bowl. Reheat in 30 second increments until hot. If the mixture is too thick, stir in a touch of milk to thin. Add desired toppings and serve.
Recipe by The Messy Baker Blog at http://themessybakerblog.com/2013/01/17/orange-scented-steel-cut-oats/