The short answer is "no", the moderately longer answer is "no, as its incredibly high in phytoestrogens, which are plant-based estrogens that mimic estrogen in our bodies. Which given that estrogen dominance is a major factor in breast cancer, endometriosis, uterine fibroids, infertility, and low libido, it makes any food thats high in estrogen public enemy number 1.
You may wonder why its allowed to be sold, why soy baby formula that is the equivalent of 4 birth control pills per day is allowed on the market. Profit and marketing is a wonderful thing if your in the business of selling a cheap product for maximum profit, to an unsuspecting public.
So, if someone offers you soy milk in your morning coffee, point out that its soy juice (have you ever seen anyone milking a legume?) and that you have enough estrogen already.