Baking – Adjusting baking powder to work with almond milk

A family member has a dairy allergy so we often substitute non-dairy milk in recipes. Most often, this is almond (it's what we have in the house for the kids to drink, and is therefore always on hand). However, if a recipe involves baking soda or baking powder, almond milk produces a less satisfying rise and there's a bitter aftertaste.

I think this means that the baking soda is not reacting fully with the almond milk. Soy milk does provide the same "lift" and eliminates the bitterness the same way that dairy milk would. What's causing this? Is it possible to adjust our baking powder recipes to use almond milk, or do we need to buy two kinds of milk (one to bake with, one to drink)?

While I'm hoping to get a general rule of thumb, here are a couple of the recipes we have noticed this with for reference. Pancakes:

1 c. flour
1 tbsp. sugar
2 tsp. baking powder
1/2 tsp. salt
1 c. milk
1/4 c. oil
1 egg

and muffins:

3/4 cup butter
1 cup sugar
4 cups flour
4 tsp baking powder
1/2 tsp salt
1 cup raisins, plumped
1 egg
1 cup milk

I did find a Question about almond milk in pancakes, but I'm hoping to get a more general answer about how baking soda/powder and almond milk work together (or, more accurately, fail to work together).