I personally like almond milk the most because I feel like it has the least noticable flavor. Soy always tastes so heavy to me in things. I use almond milk in baking and sauces and stuff and never notice that it's not cows milk.
As for drinking, I just have to give a shout out to Soy Rice milk (not separately, the kind that is both of them mixed together). Nobody ever listens to me when I tell them to try it, but it's delicious. I don't like soy milk, and I don't like rice milk, but magic happens when they come together.