I have used almond milk and soy milk and rice milk for baking. Amanda is right,
most of the time things come out fine. I finally gave up trying to find milks that are organic, non-GMO and unsweetened (I live in a fairly small town). I asked for a "milk maker" for Christmas. It has taken a few tries to make soy milk that doesn't smell beany, but so far the almond, rice and soy milks have been wonderful. Our natural food store carries organic non-GMO soybeans
An added benefit, the "sludge" left over is wonderful for making high-protein breads, pancakes, and muffins