To me, inhale in this context simply means that you are drinking it rapidly. Example would be after noting that the full teacup you had just set before the drinker moments before was now empty; "What did you, just inhale it?"

Slurp is your word if what you want to do is emphasize the noise made while drinking.

Inhale implies drinking quickly; nothing is said about the sound made. Slurp implies making a loud noise in drinking; nothing is said about how quickly it is drunk.