You Can Make Dairy Free Pudding
I've tried it, so don't bother...you cannot substitute a non-dairy milk for the milk called for on the box of Jell-O® pudding. It doesn't "set".
But here's a recipe to try using Silk Soymilk, a staple in our house.
Sure, it's not as easy as mixing up some pudding using the powder from the box, but those of us who cook allergy-friendly foods are used to that, right? Happy cooking!