Milk is widely considered a “complete” or “wholesome” food because it provides a broad spectrum of macronutrients (fat, proteins, and carbohydrates) and essential micronutrients, like calcium, riboflavin (vitamin B2), vitamin B12, selenium, and pantothenic acid (vitamin B5) in well-balanced proportions. This diverse nutrient profile makes milk vital for growth, development, and maintaining overall health across various life stages. However, limited access to cow’s milk in certain global regions, combined with the presence of lactose intolerance, milk allergies , hypercholesterolemia, and environment and animal welfare concerns, has forced some specific population groups to search for better milk alternatives that are more or at least equi-nutritional to conventional milk. Plant-based milk analogs can serve as an inexpensive, sustainable alternative to conventional milk for people who are in search of better alternates for one or other reason. A multitude of sources, such as cereals, pseudocereals, legumes, nuts, and seeds, have been studied for the development of various milk analog products like vegetal milk, cheese, cream, yogurt, butter, ice cream, and different sweets, which have nearly similar nutritional profiles to those of animal-origin products. The milk analogs are appreciated for their functionally active components, which are often correlated to their health-promoting and disease-preventing properties. However, the main challenge is to simulate the desirable appearance, texture, flavor, mouthfeel, and functionality of these products using ingredients that are isolated entirely from botanical sources, such as proteins, carbohydrates, and lipids. The molecular, chemical, and physical properties of plant-derived ingredients are inherently different from those in animal derived ones. It is therefore critical to understand the fundamental properties of plant-derived ingredients and how they can be assembled into structures resembling those found in animal products. This chapter provides an overview of the current status of the scientific understanding of plant-based milk analogs, their historical background, and environmental impact in comparison to dairy milks.