This experimental study was carried out to examine the physico-chemical and organoleptic properties of milk produced from Soybean (Glycine max), Bambara Groundnut (Vigna subterranean) and Yam bean (Sphenostylis stenocarpa). Following extraction, the three milk products were analysed for their chemical composition, mineral composition and organoleptic properties. Results show that conversion of plant beans to milk led to high losses of crude protein, fat, fibre, ash. There was high mean mineral retention of between 63-73% in the milk samples. The pH levels of the plant milk products of between 6.10 and 6. 40 were similar to cow milk pH of 6.40 - 6.60. Organoleptic measurements of each of the three milk products showed them to be highly acceptable for human consumption and could serve as good weaning foods. These novel foods could serve to keep malnutrition in check, a condition which is common among rural dwellers.