Learn Hardcore Filipino: Ibigay mo ang kape sa kaibigan.

mo is a second-person singular enclitic pronoun. It indicates that you (singular) are the one being commanded. In Tagalog imperatives, the pronoun often attaches directly to the verb.

Why is ang used before kape, but not before kaibigan?

In an object-focus construction like ibigay, the direct object (the theme) is marked by ang, so ang kape signals that the coffee is the central focus of the action. Kaibigan is the indirect object (the recipient) and is introduced by sa, not ang, so no ang appears before kaibigan.

What does sa indicate in sa kaibigan?

sa functions like the English to when marking the recipient of an action. Here it marks kaibigan as the person to whom the coffee is given.

How would you say Give the coffee to your friend specifically?

Add the second-person pronoun mo after kaibigan:
Ibigay mo ang kape sa kaibigan mo.
This clarifies that the friend belongs to you.