Maybe this will help with modifying some of your family recipes?
http://dairyfreecooking.about.com/od/techniquessubstituti...
For other ideas, how about oatmeal or millet made with rice or almond milk for breakfast?Here is one of our family's favorite recipes for pumpkin pancakes: http://bread-and-honey.blogspot.com/search?q=pumpkin+pie+... Just scroll down a bit to pumpkin pie pancakes. You can use rice milk in place of soy milk. Scrambled eggs made without milk with chopped veggies in them.
Snacks: hard boiled eggs, cut up fruits and vegetables, fruit cups (I rinse the fruit to get rid of the syrup before serving it), applesauce, trail mix/nuts, sliced black olives, salsa and chips, coconut ice cream- Whole Foods carries a line called Purely Decadent and it's FANTASTIC. They have many flavors. Same company makes a coconut yogurt. I really don't like yogurt, but the coconut one is pretty good.
Lunch/dinner:
baked fish or chicken
roasted vegetables- you can roast almost anything like cut up sweet potatoes, peppers, onions, asparagus, mushrooms, quartered brussel sprouts, etc. Just cut up, drizzle with olive oil, season with salt and pepper. One of our family meals is roasted veggies tossed with multigrain pasta or served over steamed rice or quinoa. Sometimes we eat the veggies plain tossed with a vinaigrette (2 cloves garlic, 1/4 cup balsamic, 3 tbsp evoo, 1 tbsp mustard mixed in a food processor). We also use this vinaigrette on top of stir fried shrimp thrown on a salad.
Look up bean recipes. We eat lots of them. One of the kids favorites is chili:
Some diced onion
2 cans kidney beans
1 can pinto beans
1 can fire roasted diced tomatoes
Seasoning:
2 tbsp chili seasoning
2 tsp cumin
1 tsp each of coriander, garlic powder, onion powder, salt, paprika
black pepper to taste
cilantro (optional) I add most of the bunch that I buy
Heat up olive oil. Cook the onions a bit. Then open all the cans (don't drain anything) and add them in. Add the seasonings, bring to a boil, then simmer for at least 10 minutes. We eat it over rice sometimes. You could make this with ground turkey for even more protein. Add diced veggies for a variation.
Another chili we've used: http://mothering.com/recipes/millet-chili
How about bean burritos? Buy refried beans or mash up pinto beans with some cumin and salt. You can add cheese to the ones for the kids. You can use guacamole instead of sour cream.
Here's a couple of our favorite family recipes:
BBQ lentils: http://www.biggirlssmallkitchen.com/2009/04/recipe-flash-...
Fish tacos (we use mahi instead of snapper): http://health.discovery.com/fansites/sam-zien/recipes/sna...
Rosemary bean soup (plenty of protein in this and it's vegan if you don't add the cheese, we do 3 cans instead of 2 of the beans): http://health.discovery.com/fansites/nathan-lyon/recipes/...
Ever eat at California Pizza Kitchen? Here's a pea soup that's just like theirs and it's dairy and soy free:
http://www.recipezaar.com/California-Pizza-Kitchens-Dakot...
Other advice is to look up vegan recipes. You can replace the soy ingredients with dairy free/soy free ones (like rice, almond, hemp milk for example) and since you're not vegetarian, you can replace the fake meat with real meat. A lot of times babies outgrow these intolerances so remember it's not forever! My son was sensitive to dairy and it was hard cutting it out for a few months, but then he became able to tolerate it.
Good luck!