To pour a drink from a bottle to any type of cup, you need a crafting table of size at least 1*2.
Place a bottle, filled with a fluid, and a type of cup into the crafting recipe. There are no limitations, except that the bottle must be placed above the cup.
If the bottle contains a drink that can be filled into the cup, it will show the result 'Pour Drink'. By clicking it, the cup will be filled with the drink and the bottle will be emptied accordingly.