How to make decent coffee at home without spending a fortune?

Nespresso / expressi shots just don't do it for me anymore. They just don't taste as good as proper coffee from a cafe and they don't give me the same buzz, even if I use 2 pods. And don't even get me started on that bitter freeze dried coffee granule stuff. Also, I have a spinny milk frother jug, but the foam it makes just kinda sucks. Without spending a fortune, what's a decent entry level home coffee grinder / espresso machine / milk steamer setup look like these days?