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Soy Milk makes a good substitute. 

A word of caution, in most case use the original non-flavored type. Using vanilla soy milk with canned tomato soup is unpleasant. 

I found several supporting references here are a couple

> In terms of substitution, soy milk can be used cup for cup in the same ratio as dairy milk. And, it can be used in baking and cooking just like dairy milk. While the flavor will not be exactly the same, it will be close, and you should have a similar final product in terms of texture and consistency. [Source](https://www.tasteofhome.com/article/are-there-guidelines-for-substituting-soy-milk-for-dairy-milk/) 

> Soy milk has about 3-4 grams of unsaturated fat per serving, depending on the brand you purchase.  Out of all non-dairy milks out there, soy milk has the most protein, about5-7 grams per serving. Due to its higher protein content, I have found to make soymilk the best for baking, as protein is vital for better structure in doughs and batters. I will even put in 1 tbsp of apple cider vinegar with each cup of soy milk I use for baking cakes and muffins, which mirrors buttermilk. This will increase the leavening and make your baked goods more tender. Due to its higher protein content, soy milk works the best for this. [Source](https://www.thechoppingblock.com/blog/non-dairy-milks-which-one-should-i-use-for-cooking)