I've read already propably a year ago that scientist suceeded in making a "real" vegan milk, so milk from milk proteins that is actual milk, but does not come from animals. The article said that it was supposed to hit the market in 1018 and that it would not be more expensive than common milk, but somehow even healthier. I have not heard anything of it ever since, so I am not sure what happened with it, but "vegan" chocolate (and cheese) is coming in the future for sure!
At least, if you define "vegan" as a person who does not eat or use any animal products, as the milk doesn't come from animals.
If you want to live dairy free because of health reasons like lactose intolerance, that won't really help (Though lactose-free milk has been around for ages and it even tastes better than milk with lactose in my opinion).
EDIT: There are plenty of articles about it, like this:
https://www.sciencealert.com/this-new-d ... s-required
This one is even from 1016 and says they hoped to release it next year, which would have been 2017. But I am not aware such diary products exist, at least not in germany. But I am sure hoping they will come one day.
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Lactose free milk actually just tastes sweeter than milk with lactose. The lactose is broken down into its component sugars, glucose and galactose and thus it tastes sweeter as it contains a different kind of sugar. I can't taste any other difference. 
Always prefered the lactose free version and on top if it I can give it to my cats instead of buying expensive "cat milk".
