I do.
I generally tip at any coffeeshop if there is a visible "tip jar" to put the tips in. Even if I am paying with a credit card, I usually tip with cash, rather than on the card.
You will probably get varying answers. There was a long, long discussion about tipping in a finance forum and opinions vary widely. In the United States we are suffering from "tip fatigue" because almost every place encourages you to add a tip when you put your card in the terminal. Virtually everyone tips at sit-down restaurants. There is evolving debate on where else you "should" tip. When in doubt, I generally tip.