No, payment is done immediately and the shop receives it immediately, you don't have to wait at all.
as said before by others - the only question is a trust to this transaction, for which you need to wait for any confirmations.

But as it is something not that simple to make a double spend - nobody would try to do this for a cup of coffee.
This is similar like creating a fake credit card to go to pay for you coffee, definitely this is possible today, but nobody does it.
Same with Bitcoin.