A comparison of consumer-relevant physicochemical and technofunctional properties was performed between plant-based beverages (PBBs) and cow’s milk treated at ultra-high temperatures. The PBBs’ viscosities and pH values were similar to or higher than those in cow’s milk. The PBBs were less white, and their mean particle sizes were usually considerably larger than those of cow’s milk. Foam heights were quite different, from 41.5 mm to 173 mm at room temperature (milk foam height: 134.8 mm) and 50.9 mm to 203.6 mm at 60 °C (milk foam height: 179.3 mm), with a median bubble size radius (root mean square) of 14.0–149.5 μm (milk bubble size: 18 μm) and 31.0–175.5 μm (milk bubble size: 82.8 μm). Our correlation revealed that phytic acid (PA) might affect foam height at 60 °C, the temperature of interest for the consumption of hot beverages. This may be of interest, as PA might be reduced in these beverages for nutritional reasons.