In a small saucepan over medium heat, combine the milk, pumpkin puree, sugar, and pumpkin pie spice.
Whisk the mixture continuously until it is heated through and begins to steam, about 3-5 minutes. Do not let it boil.
Remove the saucepan from heat and stir in the vanilla extract.
Carefully pour the mixture into a blender and blend on high for 20-30 seconds until frothy. Alternatively, you can use an immersion blender directly in the saucepan.
Pour the brewed espresso or strong coffee into a mug.
Carefully pour the frothed pumpkin-spice milk mixture over the coffee in the mug.
Top with whipped cream if desired and sprinkle with additional pumpkin pie spice or cinnamon for garnish.
Serve immediately and enjoy your homemade pumpkin spice latte!
Notes
You can adjust the sweetness and spice levels to your preference. For a vegan version, use non-dairy milk and a plant-based whipped cream.