Assumptions:
The straw is not a limiting factor, it will not collapse under any circumstances.
The lips are fixed to the straw, nothing comes between them (no sucking air).
Then your formula is:
Hmax = C/(A*d*g)
Hmax is the maximum height you can suck your liquid.
C is your individual sucking force, to be determined experimentally.
A is the cross section of your straw, the wider the straw, the harder it is.
d is the density of the liquid, usually 1 for water, oil is easier, mercury is very tough.
g is gravity.
Interestingly, I don't think it depends on air pressure, but I cooked this up myself for fun, so please review
