In a medium saucepan over medium heat, whisk together the milk, pumpkin puree, and pumpkin pie spice. Heat until mixture has a light simmer but do not boil. Remove from heat
Stir in the sugar and coffee and let sit for 5 minutes, stirring occasionally
After sugar has dissolved, stir in the heavy cream and vanilla. Serve hot. Top with whipped cream and dusting of pumpkin pie spice if desired