"I would like to try the soy milk here."
I don't see any reason why "試" can't be used in lieu of "試試". (I just had "我想試這裡的豆漿。" rejected.)
While I wouldn't say 试by itself is grammatically incorrect (it could still be incorrect, I am just not sure), but 我想试这里的豆浆definitely sounds unnatural. you would either use 试试, 试一试or试一下