You want a milk that doesn't curdle, and that produces foam. That's soy drink and pure rice drink (doesn't froth) off the list. Fortunately, there are a lot of alternatives.
Almond drink, hazelnut drink, cashew drink and other nut drinks are excellent and produce great foam, although some brands may curdle with some coffee. The best option is then a mixture of e.g. hazelnut and rice drink.
Many hazelnut drinks (Alpro) have already rice added, and sometimes Carragenan, which is then not such a good choice. But there are other brands (e.g. Provamel) that have pure nut drinks, and you can mix them with rice drink or oat drink to your liking. There are even brands like Natumi that have a perfect mixture of hazelnut with rice, or almond with spelt, that doesn't curdle and produces great foam.
Also: Don't use filter coffee! It tends to be more acidic than espresso, and the acid is what mainly causes the curdling.