You can use aggregate to calculate the means:
means<-aggregate(df,by=list(df$gender),mean)
Group.1 tea coke beer water gender
1 1 87.70171 27.24834 24.27099 37.24007 1
2 2 24.73330 25.27344 25.64657 24.34669 2
Get rid of the Group.1 column
means<-means[,2:length(means)]
Then you have reformat the data to be in long format:
library(reshape2)
means.long<-melt(means,id.vars="gender")
gender variable value
1 1 tea 87.70171
2 2 tea 24.73330
3 1 coke 27.24834
4 2 coke 25.27344
5 1 beer 24.27099
6 2 beer 25.64657
7 1 water 37.24007
8 2 water 24.34669
Finally, you can use ggplot2 to create your plot:
library(ggplot2)
ggplot(means.long,aes(x=variable,y=value,fill=factor(gender)))+
geom_bar(stat="identity",position="dodge")+
scale_fill_discrete(name="Gender",
breaks=c(1, 2),
labels=c("Male", "Female"))+
xlab("Beverage")+ylab("Mean Percentage")