Almond Milk vs Soy Milk: Both almond milk and soy milk are loaded with health benefits. Each are extremely different from cow's milk and have a lot more health benefits. Soy milk is made by soaking soybeans and grinding them into water. Most will agree that soy milk has somewhat of a "beany" taste. Almond milk on the other hand has been said to contain a "light, nutty, and crisp" taste. Fortunately, each type of milk provides roughly the same health benefits.