Soy milk used to make me gag (some of them still do!).
My suggestion is to try different types of soy milk (as well as others like oat, rice, etc. as suggested here). Even different brands of soy milk taste wildly different in my opinion.
I used to be a huge dairy fan back when I had no clue how much cruelty is involved in producing it... perhaps that made me a very fussy soy milk drinker. I've tried so many different types. Here is my top picks:
Vitasoy Soy Milky Lite (and 'not lite') -- tastes very similar to what I remember cow's milk tasting
Bonsoy -- hard to find, but very nice, similar to soy milky with a little more of a 'natural' taste
Vitasoy anything else (I like vitasoy 'cause it doesn't have that harsh beany taste)
So Good (okay, but a bit beany IMHO)
Any flavoured milks like vitasoy vanilla, so good soyaccino