Soy milk can be used instead of milk when baking, but one has to
make some adjustments. Regular milk has natural salt; not plain soy
milk : minor adjustments may be needed. Then, there are flavored
soy milk (e.g. vanilla soy milk).
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Unless you're lactose intolerant, I wouldn't advise substituting
anything for Soy milk. Soy is not only and incomplete protein, it
also promotes estrogen production.
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Information about soy milk can be found on the official website
for Silk soy milk. You can also find out a lot of helpful
information about soy milk from a nutritionist or your family
doctor.
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Cow's milk condenses better than soy milk. It keeps the baked
recipe more moist than soy milk through the dehydration process.
The soy milk has an oily effect as it cooks.