FILE – Milk is displayed at a grocery store in Philadelphia, Tuesday, July 12, 2022. Food and Drug Administration officials issued guidance that says plant-based beverages don’t pretend to be from dairy animals – and that U.S. consumers aren’t confused by the difference. (AP Photo/Matt Rourke, File) 
FILE – The ingredients label for soy milk are seen in a grocery store in New York on Thursday, Feb. 16, 2017. Soy, oat, almond and other drinks that bill themselves as “milk” can keep using the name, according to draft federal rules released Wednesday, Feb. 22, 2023. (AP Photo/Patrick Sison)
No cow needed: Oat and soy can be called milk, FDA proposes
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Yogurt is made from milk and, hence, is not “nondairy”.
Milk provides complete protein. Soy is the only vegetable source that has complete protein, so it is a milk substitute. When your body ingests incomple protein, it discards that protein.
None of the other “milks” are equivalent in nutrition to milk.