In regards to your previous reply, I read recently that soy milk has been found to be a potential health risk so you might want to do your own research on that before giving it to your child.
As for good old cow's milk, my kids both did great with that and I transitioned at about the same time. The trick is to do it slowly. If your daughter is used to warm (or room-temp) bottles of formula, start by warming the milk slightly and then offering her colder and colder milk over a period of a few weeks until she's used to the new temp.
The taste issue is taken care of in a similar way by mixing the powdered formula into the milk (just as if it were water) and slowly reducing the amount you mix in over a few weeks until she's drinking plain milk.
Trust me, slow and steady wins this race. :-)
Good luck!