"Kamu memesan bir?"
Translation:Did you order beer?
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In the formal style, yes.
Starting a question with a question word (apa/apakah) is the way to go in the formal style (baku).
Maybe more or less the same as in English, where you could also phrase a question by changing the intonation.
You ordered beer ?
Did you order beer ?
The second form is probably the preferred form.