I looked into this a while back for myself, as I don't like milk.
Overall, there is no concern unless you have excess oestrogen, and even then it is likely to be more beneficial than harmful.
In general, soy is better.
There are two reasons this comes up - the first is the dairy lobby, which caused quite the uproar... combine that with the hippy association/vegetarian connection, you get quite the backlash for saying you drink soy in certain areas.
The second is that there are notable cases of animals changing to a soy diet and having it influence reproduction and so forth. However, it is also noted that the two common concerns - birds and rats - don't metabolize soy the same way humans do.
Humans are already doing large scale testing on soy products and nothing of note has been found. The absolute most that can be said is that a small segment of the population might be better off not consuming it, while the majority would do better.
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