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Credit goes to Liquefy's guide at Gamefaqs (http://www.gamefaqs.com/3ds/997811-animal-crossing-new-leaf/faqs/65246), the Animal Crossing Wikia (http://animalcrossing.wikia.com/wiki/), and _J_, ShubNiggurath and Hargaad of Omnar from the PA Forums
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Special CharacterBean TypeAmount of MilkAmount of SugarDayReward
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DigbyBlue MountainNoneNone2Coffeemaker
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DonBlendNone33Espresso Maker
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DJ K.K.BlendNoneNone4Siphon
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Dr. ShrunkMochaLittle26Coffee Cup
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GracieBlendNoneNone7Cream and Sugar
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IsabelleMochaLots38Coffee Mill
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Kapp'nBlue MountainRegularNone11Cafe Uniform
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KicksMochaNone114Gyroid 1
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Mr. ResettiBlue MountainNoneNone17Gyroid 2
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PellyBlendLittle119Gyroid 3
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PeteBlendRegular222Gyroid 4
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PhineasKilimanjaroLots3
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PhyllisKilimanjaroNoneNone
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Tom NookKilimanjaroLots1
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TortimerKilimanjaroRegular2
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For villagers, the amount of milk they request matches the amount of sugar (e.g. No milk = no sugar; 3 sugar = plenty of milk)
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VillagerBean TypeMilk/Sugar
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Agent SMochaRegular/2
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AgnesKilimanjaroLots/3
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AlMochaLots/3
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AlfonsoMochaRegular/2
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AliceMochaNone/None
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AlliMochaRegular/2
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AmeliaBlue MountainLots/3
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AnabelleKilimanjaroLittle/1
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AnchovyBlue MountainRegular/2
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AngusKilimanjaroNone/None
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AnicottiMochaNone/None
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AnkhaKilimanjaroNone/None
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AnnalisaMochaRegular/2
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AnnaliseBlendLots/3
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AntonioKilimanjaroLittle/1
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ApolloKilimanjaroLittle/1
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AppleBlendRegular/2
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AstridBlue MountainLittle/1
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AuroraKilimanjaroRegular/2
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AvaBlue MountainRegular/2
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AveryKilimanjaroLittle/1
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AxelKilimanjaroLittle/1
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BaabaraMochaNone/None
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BamBlendLittle/1
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BangleMochaLittle/1
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BaroldBlue MountainNone/None
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BeardoBlue MountainLittle/1
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BeauMochaLots/3
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BeckyMochaLittle/1
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BellaMochaNone/None
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BenedictMochaLittle/1
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BenjaminKilimanjaroLittle/1
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BettinaKilimanjaroLots/3
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BiancaKilimanjaroNone/None
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BiffMochaNone/None
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Big TopBlue MountainLots/3
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BillKilimanjaroLittle/1
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BiskitMochaRegular/2
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BlaireBlendNone/None
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BlancheBlue MountainLots/3
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BluebearMochaLots/3
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BobKilimanjaroNone/None
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BonbonMochaRegular/2
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BonesMochaRegular/2
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BoomerBlendLittle/1
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BooneBlendLittle/1
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BreeBlendRegular/2
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BroccoloBlendRegular/2
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BroffinaBlendLots/3
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BruceBlue MountainNone/None
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BuckMochaLittle/1
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BudBlue MountainNone/None
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BunnieBlue MountainLots/3
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ButchBlendNone/None
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CallyKilimanjaroLittle/1
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CamofrogBlue MountainRegular/2
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CanberraKilimanjaroLots/3
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CarmenBlue MountainLots/3
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CarolineKilimanjaroLittle/1
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CeliaMochaRegular/2
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CesarBlendLittle/1
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ChadderKilimanjaroLots/3
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CharliseKilimanjaroLots/3
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CheriMochaLots/3
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CherryMochaRegular/2
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ChesterBlendLittle/1
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ChevreBlue MountainNone/None
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ChiefBlendLots/3
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ChopsMochaNone/None
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ChowBlendRegular/2
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ChrissyBlue MountainLots/3
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ClaudiaMochaLittle/1
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ClayMochaNone/None
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ClydeBlendLots/3
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CoachBlendLots/3