Heat broiler with rack in middle position of oven. Strain tomatoes, reserving juices. Spread tomatoes on a rimmed baking sheet, drizzle with olive oil, and broil until lightly browned, about 8 minutes.
In a food processor, combine browned tomatoes, garlic, chile pepper, carrot, soy milk, reserved tomato juice, and lemon juice; puree until smooth.
Transfer to a medium saucepan; bring to a boil over medium heat. Reduce to a simmer; cook 5 minutes. Season with salt and pepper. Garnish with parsley leaves before serving.