At 20 cups/day, and a generous $5/cup, I come up with about $22,000 after COGS, royalty and sales tax (assuming 8%).
And that's before rent (whether in the form of a percentage of sales or flat rate), electricity (unless included in rent), maintenance, and other, mostly non-zero, costs.
Rent and maintenance are what would kill your returns, I imagine. You might get very low (or even free) rent in a mediocre location, but in the kind of high-traffic environments that FroYoMan dreams of and that would be required in order to achieve that level of sales, I'm sure you'd have to pay up, and that's assuming you could even get in.