Whatever you want to call it, it's been consumed in Asia (China, initially) since about AD 25. The most common use for soy milk here is to drink it hot in the morning with Chinese cruller doughnuts called 油条 (you tiao). 油条 literally translates to "oil strip." Healthy! These aren't really sweet like an American would expect. Mostly, they taste fatty and starchy. They are delicious, though. We had them once, but no soy milk. I think they'd be great with any hot drink, especially something rich like cocoa or a holiday latte.
But, we aren't here to talk about doughnuts!
Ian and I purchased a soy milk maker (the appliance of my dreams) with the gift cards we were given for Teacher's Day awhile back.