First, make the coffee. Either make some strong brewed coffee or use espresso.
Add milk, pumpkin puree, and maple syrup to a medium saucepan and heat over medium heat. Heat until hot but not boiling.
Lower the heat and whisk in the vanilla, pumpkin pie spice, and coffee. Turn heat to lowest setting while you make the whipped cream.
To make the whipped cream, we use about 1 cup heavy whipping cream and sweeten with 2 Tbsp. sugar (you can also use an alternative like maple syrup or stevia to sweeten). Add about 1 teaspoon vanilla. Beat with an electric mixer until stiff peaks form.
Ladle your homemade pumpkin spice latte into two mugs and garnish with whipped cream and a sprinkle of cinnamon or pumpkin pie spice.
Notes
We like this recipe best with whole milk, but you can also use non-dairy milk alternatives (such as coconut milk).