What common household drink will remove burning from mouth?
You need something with fat or alcohol. The burning is caused by capsaicin, a molecule found in peppers, which is not water-soluble. If you go for the alcohol, you'll need something with higher percentage, not a beer, and it might result in more burning. It is easier to drink whole milk, especially because you might need lots of the drink if it is too strong. 

You option beside a drink is eating bread. You want a soft, fluffy bread like a baguette. If you chew it for a longer time, it will absorb some of the capsaicin covering the inside of your mouth, like a sponge cleaning a pot. For best results, you can combine: bread first, milk afterwards.