I avoid soy, so I've got no useful opinion on that.
I like almond milk a lot better than rice milk.
I use coconut milk a lot... not the watered-down kind in the carton meant for drinking, but the canned stuff in the Asian food aisles. You can use it to make a milk-like beverage (http://www.thenourishinggourmet.com/...ilk-tonic.html
) but mainly I use it in cooking and desserts, or in my coffee or tea.
I tried hemp milk for the first time recently because I got a free carton - it was the vanilla flavored sweetened variety so OF COURSE it tasted delicious, lol, but the texture was also really nice. I don't even know if an unsweetened kind is readily available.