as the boyfriend of a vegetarian, I have extensive experience with this thing called "Soy-Milk." Here's some simple rules for your better enjoyment.
1) Get flavored soymilk. Its very often available in vanilla, you don't see much vanilla flavored regular milk, do you? That's because soy milk really, really needs that extra kick to make it tolerable. Unflavored soymilk is akin to drinking wallpaper paste, just don't do it.
2) Use wisely. Soymilk has several mysterious and inscrutable properties, the most bewildering but beneficial of which is its ability to take on the flavor of whatever food it comes in contact with, much like Rouge from the X-Men. Use this to your advantage and even familiar old cereals and drink mixes can become a new and invigorating experience.
3) Be lazy. Why not? Keep it around forever, it doesn't spoil like regular milk does. The stuff I have in my refrigerator now doesn't go bad until late April. The stuff I get from Costco has an even longer shelf life. Take advantage of it and put soymilk in your fallout shelter or survival pack.
In summation, its really not bad, and I certainly prefer soymilk to skim and 1% conventional milk, and with the added bonus of its healthful content (does moo cow milk have fiber?) its really not a bad way to go.