In China, at least in Guandong, a typical dessert is some kind of sweet soup. Usually it's made out of red bean, green bean or some kind of sweet bean mixture. But there is also an almond sweet soup that is really good. I have also found almond powder drinks as well. I wonder how they compare to your almond milk.
Flavored soy drinks are common. Vita Soy has the typical vanilla soy milk but they also have soy milk flavored with malt, coconut and melon (cantalope or honey dew kind of flavor) for example. The flavoured ones are pretty good. I don't consider them to be milk substitutes personally but as a separate category of drinks. Presenting soy beverages as soy milk is highly charitable marketing ploy.