I found one years ago called Soy-Moo that tasted alot like dairy milk. It
was made from rice milk and soy protein isolates, corn syrup, and other
goodies. It did not have a heavy soybean taste at all. But alas, I can't
find it in stores anymore.

Also, the vegan cheeses rarely taste like cheese. The best tasting one I
tried was made from macadamia nuts and oil, and there was a vegan "Parmesan"
that wasn't too bad. It seems to me what is missing is culturing. When I
was a vegan I actually liked the macaroni and nutritional yeast. It seems
to me that if you found a good non-dairy milk you could easily make
something close to cheese. After all, in my experience, the Indian paneer
is alot like a cross between the blandness of cottage cheese, and the
texture of tofu (it doesn't melt really).

I rarely drink soymilk now days- I eat mostly beans, brocolli, peanuts,
and quorn for protein. I like drink kefir dairy milk once in a while, and
when I tried a vegan diet, I made a kefir milk of sorts from soymilk and
using some yoplait yoghurt as a starter (the vegan yoghurts I found all had
dead culture), and later acidophilus tablets. It wasn't bad but the dairy
version at health food stores tastes better, probably because it also has
yeast in it.