In most parts of asia, soy bean milk is just as common as regular milk is in other parts of the world. Wouldn't really call it a staple, just a popular drink. It's typically heated and served warm with different types of bread for breakfast. Like kruellers or biscotti and coffee, just much, much sweeter. BUt also GREAT to drink cold. They make little travel containers of it that many supermarkets are beginning to carry.
Nor is tofu really a "staple" - it's just common. Compare to onions, or maybe mushrooms here (chinese folks don't eat a lot of onions tho).
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