I've only recently tried nut milks (soy, almond, cashew, etc.) instead of cow milk and some of them are good. I suggest a brand called Ripple, their milk is made from Pea Protein and it's pretty good!
As for humans drinking cow milk most of us grew up consuming it and it's only now that we have to unlearn the things we've been taught about what to eat and the effect it has on your body. Do some research there's alot of good documentaries on Netflix is you're looking to change your overall diet/lifestyle.
I've considered giving up dairy all together but that's such a hard transition but in the long run its better for your body.