Soya is NOT health food and was not grown for human consumption but as cattle feed.
Yes, soya is a high source of protein but very far from a good one.
It is basically indigestible to the body and almost all soya is Genetically modified.

It contains high levels of oestrogen which has proved to be a cause in breast cancer in woman. it contains a chemical that mimics oestrogen and can cause havoc with hormones. The wide use of soya in infant milk formulas has been linked to premature onset of puberty and males developing female characteristics.

The worse forms of soya are isolate soya protein found in shakes and weight gain powder and TVC(textured vegetable protein).
If you really want to eat soya it is best eaten fermented in the form of miso, tempeh and Nakto.
Occasional some tofu is OK.
Rice, Oat or nut milks are a much healthier option to milk.

Personally there are many alternative ways of getting protein that are alot more beneficial to your health and easier to utilise by the body. But please do consider that our body actually needs very little protein to thrive and DO NOT need the high levels of protein that the meat and dairy industry have convinced us we need. There is no medical term for lack of protein, but lists of disease caused by excess protein. Eat loads of Green leafy vegetables and fruit and some nuts and seeds and you will be getting all the amino acids your body needs in an easily absorbable form.