If you want to be able to make your very own alternative milk, at-home almond milk recipes are the way to go. This one by Amie Valpone featured on the Refinery29 site shows you how it's done in only two ingredients. As you can't actually milk a nut, you will have to soak raw almonds in purified water (likely overnight) and then purée them in a blender or food processor. You can also add your own flavoring using something like honey or maple syrup for sweetener.
Almond milk recipes are a great alternative to cows' milk as the milk alternative is free of dairy. It also contains nutrients such as vitamins A and D, calcium and phosphorous.