Many million years ago
The species of the Kaafebaloo are predicted to be around 5-20 million years old - however it's very unpredictable on exactly when they began growing on the planet. Kaafebaloos, believe they started becoming sentient up to around 3 million years ago. The reason for this is that they know by fact they were capable of communicating with each other as far as 2.7 million years ago.
Interplanetary improvements
Kaafebaloos created their first form of space travel technology around 450,000 years ago, which allowed them to travel to other planets in their solar system. In one hundred thousand years the first intergalactic spaceship was constructed which gave them the means to travel between not only other systems but to other galaxies.
Much about the history of the Kaafebaloos are unknown. Mainly due to them not understanding history the same way us humans do.