Heat pumpkin purée, sugar, and pumpkin spice in a saucepan over medium heat for 2–3 minutes until fragrant, stirring constantly to develop flavor.
Add milk and whisk thoroughly, heating gently for 3–5 minutes until steaming but not boiling to maintain a smooth texture.
Blend the mixture using a blender or immersion blender for 20–30 seconds until completely smooth and slightly frothy.
Brew strong coffee or espresso fresh to ensure a bold base that balances the sweetness.
Pour coffee into mugs, add pumpkin milk mixture, and stir in vanilla extract for a well-rounded flavor.
Top with whipped cream and a sprinkle of spice, then serve immediately while hot for best results.