Hi China, :o)
Soya milks vary in taste. I personally prefer Morrisons cheapest long life one which is sugar free. If I am honest, it doesn't really taste of anything much, but it certainly doesn't taste like normal milk, or I wouldn't have it.
It's great on cereal in my opinion and wonderful for making porridge.
I don't cook a lot with milk, apart from an occasional cheese sauce for which I still use milk (because you can't taste it)
I don't have anything in tea or coffee. I haven't had milk in tea for about 35 years so wouldn't even be temped to try soya.
I could drink it, but I don't. It's not the most exciting of drinks, but you could flavour it.
Try cutting out milk completely in tea. If you only put a little bit of milk in which bother with any.
What I would suggest is that you buy a carton and just try it. Try a few until you get one that suits you. None of them have a strong taste so are all pallatable. But it's nothing like milk.
Hope that helps.