In a saucepan whisk together milk, pumpkin puree, and maple syrup.
Cook over medium heat, stirring frequently, until hot and steamy. Don't let it boil.
Remove from heat, whisk in the pumpkin pie spice and the vanilla.
Whisk in the coffee and continue to whisk until frothy. Taste and adjust flavor as needed, adding more spices to taste, espresso coffee or maple syrup for sweetness.
For Iced Version
Add all ingredients to a jar with a lid and stir to combine. Then add ice, secure lid, and shake for about 30 seconds to combine.
For Serving.
Divide between two coffee mugs.
Garnish with whipped cream, pumpkin pie spice or cinnamon stick.