Start the coffee brewing.
In a medium saucepan, stir together the milk, sugar, and pumpkin. Heat over med/low heat until hot but not boiling, stirring frequently.
Remove from heat and whisk in the spices, vanilla, and coffee.
To make the whipped cream, we use about 2 cups heavy whipping cream and sweeten with 4 Tbsp. sugar (you can also use an alternative like Gentle Sweet or stevia to sweeten). Add 1 tsp vanilla. Beat with an electric mixer until stiff peaks form.
Ladle your homemade pumpkin spice latte into mugs and garnish with whipped cream and a sprinkle of cinnamon or pumpkin pie spice.