A truck weighs three tonnes; a quadcopter weighs 3 kg. You can't amortize coffee delivery over very many packages because you have to deliver the coffee within a few minutes after it's ready; otherwise it gets cold.

You can brew coffee in the back of a truck.

There was a startup called Zume whose pitch was trucks that would bake pizza while driving to the customer for the absolutely maximally fresh pie.

https://www.bloomberg.com/news/articles/2020-02-13/inside-th...

Spoilers: that's hard to do.

It works okay if you cook while parked. But coffee might be more forgiving.

Driving an entire coffee shop around to the house of whoever wants a coffee seems guaranteed to use much more energy than airlifting just the coffee itself.