Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Americans pronounce soaked as SOHKT (/soʊkt/). You'll hear it in sentences like "He forgot his umbrella and got completely soaked in the rain".
Record yourself saying "soaked" and play it back. The mic stays on your device — nothing's uploaded.
1 syllable, 4 sounds. Explore each sound's mouth shape and how it's made.
Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Start with your mouth slightly open, then close your jaw slightly as your lips round. Shift your tongue back slightly, then stretch the back up.
Raise the back of your tongue to touch the soft palate (velum). Stop the air, then release.

Touch the tip or front edge of your tongue to the roof of your mouth just behind your teeth. Keep your jaw relaxed. Stop the air, then release with a puff.

The textbook way isn't wrong — it's just not how anyone actually says it.
In "soaked", the "t" is not released — the articulators get into position but hold without the burst of air. Air stops but there's no release burst — the articulators hold position.