At present, the popular theory says that there should be about 300 calories in the morning, and a bowl of soybean milk is only about 60-90 calories, which is definitely not enough. At the same time, the protein in soybean milk is limited, and there is no carbohydrate, so it cannot constitute a healthy breakfast.
However, there are some theories (especially popular in Japan) that breakfast is called fast, and fasting after dinner is long enough. So the interval between dinner and the next meal can be 12- 18 hours. According to this theory, it is ok to drink a bowl of soybean milk in the morning.
The key is to look at personal physique. It also depends on what you had for dinner and when.