I would look into Rice or almond milk. I have made it at home in the past. My friend switched from Soy to Rice milk.
I hate cows milk, cow milk is for baby cows not humans but that is another topic.
I can find the recipes I used but I would try these...
Healthy, creamy, yummy rice milk recipe « Only Sometimes Clever Say No to Soy Milk and Rice Milk
I am not going to preach the evils of soy milk, because I think that is really a personal choice, but I wanted to make you aware of other options besides soy.