Soybean is an important crop for food and animal feed. Production and area both continue to increase and expand into new areas and countries. Spatially explicit information on soybean cultivation is essential to crop monitoring, production estimation, and national accounting systems. However, its cultivation in diverse climate conditions, landscapes, and agricultural systems poses challenges to accurately map soybean across different regions and years. We propose an innovative soybean mapping method combining phenological alignment with machine learning (named here RF-DTW), which can be applied to diverse geographies and years by aligning phenological shifts and using distinctive features from Sentinel-2 time-series. The method first uses the dynamic time warping (DTW) algorithm to align the growing season between pixels across different sites. Then, based on the harmonized time-series, a set of distinctive features was identified and used to build random forest (RF) models to classify soybean across ten globally distributed sites and multiple years. Results show that the green chlorophyll vegetation index (GCVI), greenness and water content composite index (GWCCI), normalized difference senescent vegetation index (NDSVI), red edge position (REP), and short-wave infrared bands are important inputs for distinguishing soybean from other crops. Spectral-phenological features, particularly the curve slope metrics of GCVI and GWCCI during the peak to late growing season, rank as the most important features for mapping soybean. RF-DTW demonstrates good generalizability across ten study sites, achieving an overall accuracy (OA) of 0.92 and an F1-score of 0.84. F1-scores for eight out of ten sites ranged between 0.82 and 0.98, outperforming a benchmark method, although they were lower (F1-score < 0.60) for the two sites in Sub-Saharan Africa. Additionally, RF-DTW performs robustly when transferred to untrained regions and years, with most cases showing an F1-score higher than 0.70. Our proposed method, as a combination of phenological alignment and machine learning, can be used to map soybean accurately and efficiently across different regions and years, to provide crucial information for understanding the rapid dynamics of soybean cultivation and its global-scale impacts.