The only ones I've tried so far is Vegelicious, which is not soy-based, and various types of soy milk. I like them both, although I've tried different brands of soy milk. Vegelicious tastes more like milk to me, but I favor soy milks because they are closer to milk in nutritional profile.
I know of milk substitutes made from rice, oats, at least one kind of nut (almond), and hempseed (I think), but haven't tried them. I don't know if the last is available in my area.
Peasant (1963-1972) and Fluffy (1970s?-1982- I think of you as 'Ambrose' now)- Your spirits outshone some humans I have known. Be happy forever.