If you are concerned about avoiding animal products, I think that 8th continent might contain D3 (a form of vitamin D that is from an animal source: "D3 is not for me"). Other soy milks contain D2, which in non-animal based ("D2 for me and you").
There are some 'light' soy milks, which are basically soy with water added.
As for substitutes that are as nutritious as soy, I'd have to say make your own almond milk (soak raw almonds 6-8 hours, then drain and rinse, then put about 1 cup almonds and 2 cups water in a good blender and blend to liquify, and strain through cheese cloth), or hemp milk (blend hemp seeds with water and strain). Hemp would be the most nutritious choice.