How do I query posts and have their related taxonomies returned in the results?

Welcome to WPSE Jason, get_posts is for querying posts, and the tax_query part of that allows you to select posts which belong to taxonomies of a certain criteria.

To get the taxonomy terms of a particular post, use get_the_terms, to which you pass the post’s ID and a taxonomy. It returns an array of taxonomy term objects associated to that post, and belonging to that specified taxonomy.

Example usage:

<?php
$terms = get_the_terms( $post->ID, 'on-draught' );
//Echo a list of 'on-draught' terms for this post   
echo '<ul>';                    
if ( $terms && ! is_wp_error( $terms ) ) : 
    foreach ( $terms as $term ) {
        echo '<li>'.$term->name.'</li>';
    }
echo '</ul>';
?>