There are several milks that taste like dairy milk. Almond milk has the most flavor of these, but you can give it more of a cow's milk taste by adding some honey, lemon juice and whey protein powder before mixing with cold water. Rice milk is also close in flavor to dairy milk when combined with almond or coconut extract. Soymilk is slightly different than this because it has added thickeners which give the drink a creamy texture.