This shot shows Diva licking from a cereal bowl, but you really shouldn’t let a cat do this. An occasional taste might not do much damage, but milk and soymilk aren’t good for cats (despite our cultural fixation on cats’ love of milk).
(There’s also the general truth for all mammals that milk is designed for infants, not adults. Lactose tolerance in adults isn’t actually normal.)
This panel comes from page 31 in Chapter 14 of Not a Cat Lady.