Stir the milk, pumpkin puree and sugar in a small saucepan.
Heat over medium high heat until hot but do not boil over.
Remove the mixture from the heat and then stir in the vanilla extract, pumpkin pie spice and coffee.
Pour the mixture evenly into serving mugs. Top with the whipped cream.
Serve immediately while warm and enjoy!
Notes
Generally, I use whole milk or 2% milk for this recipe but any milk that you prefer will work great in this recipe. If you have any leftovers, store them in a covered container for up to 2-3 days.