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I tell people to find a plain non-dairy milk they like and use it universally. Rice, almond or soy -- just not hemp or coconut (I find both have tastes that are not complementary in a lot of dishes). I've used sweetened and unsweetened, rice, soy and almond, even homemade. They all work, it's a personal preference. I wouldn't use vanilla in cooking, but it would be fine in baking.