If you WANT coffee, then HAVE coffee.

I do have a coffee press when there are others on my trip that are coffee drinkers, but when solo or I'm the only coffee drinker, I make a single cup (HOWEVER, my cup is one of the 20 ounce, insulated models).

So, if you have hot water, just drop in a coffee bag.  Since I haven't been impressed with the commercially available ones, I make my own using the   (You need to Login or Register product.  So, I just make my own ... put in my favorite coffee, fold over the top, sometimes put a small clothes pin on the fold (did I say I'm into multi-use?), and drop in a cup of hot water.  Wait a couple of minutes, and viola.  Of late, however, I've taken to making enough bags for a trip (with a few extras) in advance and running the folds through my sewing machine. to close them.  Just be a bit careful if you do this because the sew line acts something like a "tear-here" strip ... makes for easy emptying later.  Once dried, the bags make pretty good fire starter.  As always, dispose of trash responsibly.

Sorry, I can't help you with the steamed milk! ;)

dd