Soy milk can be used instead of milk when baking, but one has to make some adjustments. Regular milk has natural salt; not plain soy milk : minor adjustments may be needed. Then, there are flavored...
I have used soy as a substitute for regular milk, with success. You need to be careful as it bakes up a little differently and you may notice some 'cracks' in your pumpkin pie, but it stills tastes...