Should you still be interested, yes I think you can. YP is very like pancakes in terms of the batter, and you can make pancakes with soya milk no problem.
Typically there are 2 things you can't do with soya milk: make any dish where milk is the principal ingredient (eg custard). It will work but may taste v odd. And boil it. So if you put soya milk or cream into a sauce, you add it at the end because if you put it in at the beginning it separates.