Many soy-based products are terrible, you have to know which to choose. I've never had a soy milk that I didn't despise, but I prefer "Rice Dream" (regular, not 'vanilla') to regular milk for cereal.
As for soy-based veggie burgers, etc, again, much of it is crap, but some of it is excellent. Try pretty much anything Morningstar Farms. They make sausage links and patties, chix patties, "garden veggie" veggie burgers, and buffalo wings. Gardenburger makes "riblets" which make great sandwiches. Some veggie burgers attempt to replicate the taste and texture of meat, but many don't, and just share the format of "something meant to be put on bun".
Don't let insecurity in your masculinity prevent you from eating this stuff. It's just food, and when you're eating "real" meat (where "real" is defined by "this used to poop"), you probably didn't kill it with your own hands any way, so it really doesn't re-affirm your manhood.
-harry