Pour milk into a small pot and heat over medium-low heat until hot and almost simmering, about 3-4 minutes.
Make your espresso and pour it into a large mug or mason jar.
Add pumpkin puree, maple syrup, pumpkin pie spice, and vanilla extract to the espresso.
Stir vigorously until everything combines smoothly with no lumps.
Use a milk frother to froth your heated milk for about 30 seconds until foamy and doubled in volume.
Pour the frothed milk into your mug over the pumpkin espresso mixture, reserving the extra foam.
Spoon the reserved foam on top for café presentation.
Add whipped cream if desired and sprinkle with extra pumpkin pie spice or cinnamon.