Coffee was invented in the 15th century, so no.
This is Tamriel, not Earth.
![Razz :P](http://gamesas.com/images/smilies/icon_razz.gif)
Besides, coffee goes back to at least the 13th century, and tea goes back further than that, at least 2,000 years if not more. Either date would still be acceptable in an Earth-style fantasy, but they can take whatever liberties they like with an alien fantasy world.
EDIT: Lest I forget to mention it, there are other hot drinks that can made as well, including alcoholic beverages (mmm, mead).