Been following along off and on, just a few thoughts.
There are plenty of foods that have calcium, as well as calcium supplements. The calcium in milk isn't as bio-available as that in, say, leafy greens, so despite a glass of milk having X grams of calcium, the body doesn't absorb it all anyway. If you're looking at Nesquik or similar for vitamins, you may as well take a vitamin supplement; the vitamins in drinks like that are already supplemented, so if you have a quality vitamin supplement already, you're covered and the powder for the milk is extraneous.
Had a look at the sugar-free Nesquik, and while there's no sugar in it, there is sucralose, which is Splenda - an artificial sweetener - so if you're trying to avoid artificial, that's not the way to go.
As PP have mentioned, soy is controversial; we pretty much avoid it here, as much for the potential hormonal component as because we just don't digest the stuff well. (Most people don't digest unfermented soy well, from what I've read.) Other nondairy beverages like rice milk contain supplemental calcium - which you can get in a supplement anyway.
If you can avoid commercially sweetened yogurt - it's not hard to make your own; I make about a gallon a week here as it's the only dairy we seem to be able to digest in our family - I'd stick with that for protein and calcium. Once you get used to not having it sweetened, the milk sugar alone (which is partially broken down by the culturing, so it tastes sweeter the way lactose-free milk tastes a bit sweeter than regular milk) is plenty sweet enough. The kids get a bowl of yogurt and/or a calcium supplement daily, depending on how many greens I can get into them on any given day.

Oh, recovery beverage for after exercise: coconut water!
http://zico.com/ . We chug this stuff in the summer!