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The illusion involving the coffee cannot be performed precisely as seen in the video without having a prior setup. Despite that, there is a method that would not call for stooges and would leave the coffee clean and free of trickery at the end. That is not, however, to say that the method I have in mind wouldn't have any drawbacks. For one, the timing would be very important, but entirely managable. Second, a set-up would still be required, but it would be very easy to accomplish for anybody with a firm grasp on social skills. Alternatively, I can think of another (more opportunistic) method that would not require any person-to-person set-up whatsoever, though it wouldn't always be an available option.
To more accurately answer the question at hand, I don't know the history of this effect, but I'd imagine you could trace it back to Mr. Christ having performed the then-popular water to wine illusion.
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