Absolutely! It really depends on the type of hamburger helper you want to make. If the recipe calls for regular milk, you can use plant-based milk in place of milk (rice milk, coconut milk, oat milk, almond milk, soy milk, etc). You can also thin out a different dairy product, like heavy cream, plain yogurt, or even evaporated milk with a little water. Broth or water make a great substitute as well!