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Historically liquids have been stored in sealed bag-like containers and then drunk through a tube. These are somewhat similar to how many children's drinks are packaged and stored.

As another answer has said, there have been demonstrations of drinking containers that take advantage of certain physical properties which allow a liquid to stay inside an open containers.

If you search, you may also find video of astronauts letting liquid loose inside their cabin and then taking into their mouths by moving their head into a position which allows that.