Soy milk tastes good, but before offering that to your child I would research it. From my research I have eliminated ALL soy out of my diet (beware - its hidden everywhere!)
Almond milk is ok, but I think its best if you make it yourself. Its super easy to make and you can soak the nuts before to make it easily digestible. I add some vanilla and dates if I want a sweeter flavor. You do need a good blender to make nut milks.
For my family we choose raw cows milk. Its not for everyone, but the benefits are great. There are also some options out there for low heat pasteurization (still within the government requirements) and non homogenized (the fat separates from the milk). And as one other person mentioned, goats milk also is a good option. Though from my research its pretty expensive.
I haven't looked into coconut or hemp, but from what I know I would choose those over soy.