Brew espresso or strong coffee and keep it hot.
Warm milk, pumpkin puree, maple syrup, pumpkin pie spice, and salt in a saucepan over medium heat.
Whisk until steaming and smooth, 3–5 minutes; do not let it boil.
Remove from heat and stir in vanilla extract.
Froth the pumpkin milk with a whisk or hand frother until lightly foamy.
Divide espresso between two mugs, pour pumpkin milk over, and gently stir.
Top with whipped cream and a sprinkle of cinnamon. Serve warm.