I used to use normal cow’s milk, but currently I’m using Bonsoy, recommended by a friend. The first time I tried bonsoy I thought it was nearly as good as cow’s milk. Now that my taste buds have adjusted to Bonsoy, cow’s milk tastes weird (sour).
Oat milk tastes ok but doesn’t froth well. The interesting thing about Bonsoy is that it doesn’t have any added oil, and despite being quite low in fat, it still produces excellent foam. Aldi’s soy milk is not bad as a cheap substitute for Bonsoy, and Vitasoy is OK. I’m not a fan of almond milk. Haven’t tried anything else.
Soy gets a bad rap (most likely driven by the dairy industry) for the alleged estrogen in it. But it's phytoestrogen (plant based) so isn't really utilised in the same way estrogen produced by mammalian glands would. So if you prefer Bonsoy but are worried about hormones - have a think about it. Some low level plant based structurally similar estrogens, versus a full set of constantly engorged breastfeeding cow hormones which produce estrogen (and are probaby given extra) along with a whole lot more.
Bonsoy is delicious, I can't find a better soy milk substitute for it.