In a saucepan over medium heat, combine the milk, pumpkin puree, maple syrup, pumpkin pie spice, and vanilla extract.
Whisk the mixture constantly until it's hot and begins to steam but doesn't boil.
Brew a cup of strong coffee or espresso.
Pour the hot coffee into a large mug, and then add the spiced milk mixture. Stir well to combine.
Top with whipped cream, a sprinkle of ground cinnamon, or a drizzle of caramel sauce, if desired. Serve immediately.