Cover 1-cup (160g) raw almonds with boiling water for 1 minute.
The skins surprisingly slide off quite easily and I found if I got my hands right in there and mushed them up a bit, I got more than one to slide off at a time. If there are some very resilient nuts, cover them with boiling water for a further minute.
The only reason you would want to be careful with covering them in boiling water for too long is if you want them to retain their crunch. If however, you are soaking them anyway for almond milk, then go ahead with impunity.