Either is ok.
"Should we get something to drink?" has a slightly more positive tone. Just very, very slightly. If I'm expecting (or hoping for) a "yes," I would probably use that. If I'm expecting (or hoping for) a "no," I would probably use "Should we get anything to drink?"
But the difference is very, very, very small. VERY small. You can use either. (And either a "yes" or "no" would be polite with either question.)