No, but you can substitute milk with almond, rice, coconut, or hazelnut milk.
it depends on what you are doing
You can try lactose free milk or soy milk.
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.
depends on what you are making
Yes. Soy milk is a substitute for milk and can be used in almost every application dairy products can be used in.
No, you can substitute buttermilk for milk but not for baking powder.
I have used soy as a substitute for regular milk, with success. You need to be careful as it bakes up a little differently and you may notice some 'cracks' in your pumpkin pie, but it stills tastes awesome. For evaporated milk I use extra soft silken tofu and put it through the blender first to smooth it, then use that. Good luck and Happy Baking!