I tried almond milk for the first time at my cousin's house last night. It's probably not fair to judge its taste since it was the chocolate flavor with 22g of sugar per serving (her kids love it, but I know she and her husband drink it, too). The stuff she had almost reminded me of soy milk as far as taste, and I'm not sure how good the plain variety is.
I would seriously avoid soy for reasons we've mentioned here.