Interesting, this happened to me this week. It was about two hours after it happened before I was able to do anything about it as I had a carload of people and was not home with access to anything. Immediately after, I soaked up as much of it as I could with a towel. When I got home I used a damp, almost wet towel to again soak as much of it up as I could. I would blot the spill, rinse the towel and then do it again. I then used resolve carpet cleaner to remove the rest. After it dried I vacuumed the area and luckily, no stain. It was just coffee with no cream or sugar so I have no idea how those two items may compound your problem.
Good Luck.
Charles