Plant-based beverages made from various plant sources have been regarded as a good replacement for animal-based milk, especially for people with health limitations and customary food practices such as vegans and vegetarians. The development of alternative beverages made from sorghum (Sorghum bicolor L.) and adlay (Coix lacryma-jobi L.) was limited in Indonesia, despite the grains have been reported to contain good nutrients and health-benefiting compounds. Therefore, the aim of the research was to create plant-based beverages made from sorghum and adlay and evaluate their nutritional value, physical stability, and consumer acceptance. There were five formulas tested in this research, namely formula 1 (100% sorghum, 0% adlay), formula 2 (90% sorghum, 10% adlay), formula 3 (80% sorghum, 20% adlay), formula 4 (70% sorghum, 30% adlay), and formula 5 (60% sorghum, 40% adlay). The results showed that the addition of adlay to the formulation of a sorghum-adlay-based beverage significantly increased the carbohydrate content from 1.24% to 2.71%, tended to increase the protein content from 0.27% to 0.33%, decreased moisture content from 98.47% to 96.91%, and decreased sodium and potassium significantly. The higher concentration of adlay in the product significantly reduced the physical stability of the product and decreased its sensory acceptance. Based on sensory analysis, formula 3 was chosen as the most acceptable sorghum-adlay-based milk with a score of 4.9. The data obtained give brief information on the development of sorghum-adlay-based milk.