In English, we cook food, we don’t cook coffee. Or tea, for that matter! We make coffee. So each morning, you might put the kettle on and make coffee for your family/colleagues etc.
What about prepare coffee? Well, it’s true. You do have to prepare the things for coffee – get the coffee jar out, find the sugar, get the milk out of the fridge. But putting them together in the cup is not ‘preparing’ a coffee, it’s ‘making’ it.
You wouldn’t ask your mum to prepare you a coffee, you’d ask her to make you a coffee.
While we are talking about coffee, let’s clear something else up. It’s both countable and uncountable. When we talk generally about it, e.g. I like coffee, it is uncountable and doesn’t need an article. If you are referring to an individual cup of coffee, it is countable and we say, „I drank a coffee, or I drank 2 coffees today.“