Hello mate

There is a way, well a few ways.
You can try using nparticles but the way that I would do it is either to use maya fluids or realflow.

Fluids are very very intensive and may take ages if you dont know what you doing, realflow would be a lot faster but you do need a full blown new application for this.

Using fluid I would build my cup, then fill it with fluids, once it is filled I would set its position so it starts off filled.

Once it is filled I would save:)
So we have a cup full of liquid now.

Next step add a vortex field to the fluid, just change the attributes so it begins to swirl , once you have this going create another fluid container but make it emit from a sphere so it comes out nice and thick and make the two container collide, this will allow the cream to mix nicely with the coffee, then I would attach a goal to the fluids, which would take the form of your logo, your goal would be set to 0 until you want the fluid to animated to the goal then I would key it to one and play with the attributes, attributes would allow the fluids to attract to the goal fast or slow, smooth or rough etc. Remember t turn on liquid in the fluid options:)
Once you have the correct combination you like, cache the sucker and then you can start playing with look and feel etc.

This is a basic of what I would do, its alot of work to get right, but this is how we learn.
Also just keep looking up tutorials on the web for the different parts you want to achieve, there is so much out there.

Really hope this helped a tad:)

Goodluck.