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In a small bowl or jar, whisk together the pumpkin purée, maple syrup, pumpkin pie spice, and vanilla extract until smooth.
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Pour the hot coffee or espresso into the mixture and stir to combine. This helps blend the pumpkin and spices evenly.
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Let the mixture cool slightly, then fill a glass with ice. Pour the pumpkin-coffee blend over the ice.
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Pour in the milk and stir gently until the drink looks creamy and well mixed.
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Top with whipped cream and a sprinkle of cinnamon if you’d like. Serve immediately and enjoy the balance of cool sweetness with a hint of spice.