Baobab or mucua, the fruit of Baobab tree (Adonsonia digitata L.), has interesting nutritional and functional properties for human health. This study aims to develop and realize a sensory analysis and the purchase intentions of two mucua beverages by a sample of adults residing in Portugal. The beverages were developed containing mucua, water, sugar, and one also included vanilla aroma. Participants were recruited within the academic community in May 2023. The tasters evaluated the sensory characteristics of múcua beverages. The sensory analysis involved 45 tasters who were university students and residents in the Lisbon metropolitan area, and for 80% of participants this was the first time they were tasting mucua. Although no significant differences were observed between the attributes of the beverages when compared, the vanilla flavor obtained a higher score in taste and sweetness (median of 6 (4; 8) in both), while the beverage without vanilla obtained a higher score in taste (median of 7 (4;8)). Some attributes that need improvement were identified, as approximately 30% of participants pointed out texture as a negative aspect in both beverages. It was also found that tasters would be willing to consume the beverages one to four times a week and pay about € 3 per liter for them. These results suggest that mucua-based beverages with and without vanilla aroma have good acceptance by tasters.