If milk steaming is important, I think your options are very limited - even more so at $100.
In fact, I think only Tassimo and Nespresso are the only options I know of, and I'm not sure how Nespresso makes their cappuccinos.
The other two single-serve coffee systems around $100 would be Keurig and coffee pods. I'm a fan of the latter, but they don't do cappuccinos as far as I know.
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