What does soy milk taste okay? Are there any specific brands that taste better?

I'm trying to go vegan, and I'm doing this because I am firmly against the inhumane treatment of animals. However, it's going to be much more difficult than it was to become vegetarian because I eat a lot of dairy products, and my main concern is alternatives to milk. So my question is, is soy milk really as gross as everyone says? How does it compare to the taste of cow's milk? I don't want to buy it until I get opinions from actual vegans/vegetarians. Thanks in advance!