Combine pumpkin puree with maple syrup and pumpkin pie spice in small saucepan set over medium heat. Cook, stirring constantly, until mixture starts to simmer. Stir in 1 cup (250 mL) milk and vanilla. Cook, stirring frequently, until steaming. Keep warm.
Heat remaining 1 cup (250 mL) milk in clean saucepan or in microwave until hot. Whisk with frother or immersion blender until frothy. Divide hot espresso or coffee into serving cups. Add pumpkin mixture.
Top with frothed milk. Sprinkle with a pinch of pumpkin pie spice to serve.
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