01 - Combine pumpkin puree, sugar, pumpkin pie spice, and vanilla extract in a small saucepan over medium heat. Whisk continuously and cook for 1 to 2 minutes until the aroma develops and mixture is heated through.
02 - Pour milk into the saucepan and whisk until hot and steamy without allowing it to boil.
03 - Remove from heat and froth the mixture using a hand frother, immersion blender, or vigorously whisk until foamy.
04 - Divide hot brewed coffee or espresso evenly between two large mugs.
05 - Pour the pumpkin-milk mixture over the coffee in each mug and stir gently to incorporate.
06 - Top each mug with whipped cream and a light sprinkle of pumpkin pie spice, if desired. Serve immediately.