How can I say that I like to do something?
I like to drink tea, for example.

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I like to verb  ～のが好きです、～ことが好きです

I like to cook. 私は料理をするのが好きです。 watashi wa ryouri wo suru noga suki desu
I like to watch TV. 私はテレビを見るのが好きです。 watashi wa terebi wo miru noga suki desu
I like to study Japanese. 私は日本語を勉強するのが好きです。 watashi wa nihongo wo benkyousuru noga suki desu

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私[わたし]は紅茶[こうちゃ]が飲[の]みたい。
If you want to make above sentence more polite,you only have to add　「です」.

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I think you are right, thank you)

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I think 私は紅茶が飲みたいです。 means "I want to drink tea" or "I'd like to drink tea". But "I like drinking tea" or "I like to drink tea" should be 紅茶を飲むことが好きです。Both English and Japanese aren't my native languages, so I hope there are no mistakes.