This substitute command can use Regular Expressions and will match any instance of foo followed by any( one ) character since the period . in Regular Expressions matches any character, hence the following command will match all instances of foo followed by any character in the current line.
:s/foo./bar/g
1 fooing fooes fool foobar foosup
will become
1 barng bars bar barar barup
If you want to match the literal . period you can escape it in the search field with a backslash \.
:s/foo\./bar/g
1 fooing fooes foo.l foo.bar foosup
will become
1 fooing fooes barl barbar foosup
Or disable all pattern matching by following the s command with no.
:sno/foo./bar/g
1 fooing fooes foo.l foo.bar foosup
will raise an error
E486: Pattern not found