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$array = array ( 'coffee' => array ( 
                    'Small' => '1,90',
                    'Big' =>   '2,30',
                    'Large' => '3.60'
                ), 
   'tea' => array ( 
                    'Small' => '1,70' ,
                    'Big' => '2,20',
                    'Large' => '3.80' 
                )
);
echo '<pre>';
print_r($array);
echo '</pre>';
echo "<br>";
$i = 1;

foreach ($array as $beverage => $types) {
$sep = ' | ';
    echo ucwords($beverage) .' ';
    foreach ($types as $type => $price) {
    echo $price;
      if(count($types) == $i){
             $sep = '';
             echo "<br>";
      }
    echo $sep;

    $i++;
    }
}
echo "<br>===<br>";

echo "<br>===<br>";

foreach ($array as $beverage => $types) {
    echo ucwords($beverage) .' '.$types['Small'].' | '. $types['Big'] .'<br>';
 
}
echo "<br>===<br>";