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About Pick from the best coffee or tea selections, grab a bite to eat, and relax in our inviting atmosphere. Come experience the best coffee shop in Waukesha! Story Established in 2004, the Steaming Cup has been the staple coffee shop in downtown Waukesha. Pick from the best coffee or tea selections, grab a bite to eat, and relax in our inviting atmosphere. Experience the best coffee shop in Waukesha, and you won't go anywhere else!

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