In a small saucepan, combine pumpkin puree, sugar of your choice, pumpkin pie spice, and coffee. Heat the mixture, whisking constantly over medium heat, until combined, warmed through and the sugar is dissolved. This will only take a minute or two. Remove the saucepan from the heat and whisk in the vanilla extract.
Pour the milk of your choice into a heat-safe measuring cup and heat for 45 seconds in the microwave. Alternatively, you can heat the milk in a small saucepan over medium-high heat until lightly simmering. Once the milk of your choice is heated, take a small whisk and vigorously whisk back and forth for 15-30 seconds until the milk forms large bubbles and is frothy.
Pour the coffee mixture into a mug and top with the frothed milk. Gently whisk to combine. Top with whipped cream if desired and dust with additional pumpkin pie spice or cinnamon. Serve immediately.
Notes
Sweetener: Use brown sugar or maple syrup for the richest results, but granulated sugar, honey, or even a sugar alternative will work. Add as much or as little sweetener as you like. I typically add only a ½ tablespoon of sugar, while my husband prefers 1-½ tablespoons of sugar. Milk: Use dairy or non-dairy milk of choice. If your milk is sweetened, you may want to cut back on the added sugar.Pumpkin Pie Spice: In place of the homemade pumpkin pie spice, use ¼ teaspoon cinnamon and ⅛ teaspoon each of ground nutmeg and ground ginger. It won't be exact, but it will be a close replicate.