I've been happy with a 20 year old Primus stove with a piezo starter. Packs super small. I use it with a camping cup that I put directly on top of it to boil water
Cup/Pot: https://gsioutdoors.com/glacier-stain...
Stove: Not made anymore by Primus, but this looks close: https://primus.us/products/firestick-...
Fuel: (4oz) https://www.msrgear.com/stoves/stove-...
I talk a little bit about this in the second part of the video