Start by brewing a strong cup of coffee or pulling 2 shots of espresso. Set aside.
Pour the milk into a saucepan. Heat the milk until it's hot but not boiling, stirring frequently to prevent scalding.
In a separate bowl, whisk together the canned pumpkin puree, granulated sugar, pumpkin pie spice, and vanilla extract until well combined.
Once the milk is heated, reduce the heat to low and whisk in the pumpkin mixture until it's fully incorporated into the milk. Continue to cook for another 2-3 minutes, stirring constantly.
Pour the hot brewed coffee or espresso into the pumpkin milk mixture. Stir well to combine.
Carefully pour the pumpkin spice latte into serving mugs.
If desired, top each latte with a dollop of whipped cream and a sprinkle of ground cinnamon or a cinnamon stick for an extra touch of flavor and decoration.
Serve your homemade pumpkin spice lattes immediately while they're still hot, accompanied by a doughnut. Sip and savor the cozy flavors of fall!