Foam is just little bubbles that haven’t popped yet. Adding something to the liquid that strengthens the bubbles (like protein, starch, or soap) will let the foam stay longer, often enough to pile on top of each other instead of popping the moment they aren’t surrounded by liquid.
Soda is more or less sugar in carbonated water; neither of those ingredients strengthen the bubbles. Other bubbly drinks might have even less ingredients. However, put some dairy in (like ice cream or milk), and suddenly the bubbles from the soda can last longer than the drink does.
Beer has proteins and starches from the plants used in its brewing, both of which strengthen the bubbles.
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