I've never had a problem using soy milk and instant pudding. It always came out great the same way as with ff milk except with a little taste of soy. Just don't use chocolate with chocolate like Kylie pointed out..use the vanilla or plain. Or you can keep some instant milk on hand and use that. Just make up the milk per the instructions and then use it to make your pudding. You can also use this method with canned evaporated milk. I've done these things before and it always comes out great.
I found that the pudding thickened only slightly, using either soy or almond milk. Now, when I make it, I use half regular milk and half almond milk. It thickens better, has less calories than using all milk or all soy, and is cheaper than using all almond milk. If I'm out of milk, I'll still make it using all almond milk, and deal with the runnier consistency.
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