The global plant-based product market is growing rapidly, and plant-based milks show promising potential in the coffee beverage sector. This study aimed to identify sensory drivers of liking of plant-based milk coffees for guiding the development of plant-based products with competitive advantages over dairy milk coffees. Twelve coffee samples were prepared with plant-based (oat, soy, almond, and coconut) and dairy (cow) milk. Quantitative descriptive analysis was used to generate sensory attribute terms for the 12 samples. Checkall-that-apply (CATA) questions were given to consumers to evaluate the sensory profiles and consumer acceptance of the 12 samples. Correspondence analysis and cluster analysis of the CATA results from 80 consumers showed that the oat and soy milk coffee samples were closer to what the consumers perceived as "typical" milk products, while the coconut and almond milk coffee samples were closer to the "flavored" milk products. Partial least squares regression results revealed that the attributes smooth, milky, and thick were important drivers of liking for the milk coffee samples. On the contrary, rancid oil, greasy, astringent, and rice bran were the major sensory attributes lowering the panelists' acceptance of the milk coffee samples. The majority of consumers (53.5%) were "dairy milk lovers," who specifically liked the dairy milk coffee sample and had low acceptance for the plant-based milk coffee samples. There was also a group of consumers (46.2%) classified as "plant-based milk coffee lovers." They enjoyed coffees prepared with a wide range of milks (both dairy and nondairy milks) and represent high-potential consumers for plant-based milk coffee products.