Heat is a form of energy (or a result/expression of energy, if you like). The liquid drink has some energy (heat) in it, and the ice cubes have less energy (heat) in them. When you put the ice cubes in the drink, the energy wants to equalize, so energy (heat) moves from the higher-energy material (the drink) into the lower-energy material (the ice) until they’re roughly equal, which melts the ice.
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