Whisk together milk, pumpkin puree and light brown sugar in a saucepan. Cook over medium heat, stirring the mixture frequently. Remove from heat and whisk in the pumpkin-pie spice and vanilla. Continue to whisk until frothy.
Pour mixture into 2 coffee mugs until each is filled half way. Next, add in espresso or coffee. Now you can add sugar to taste and garnish with whipped cream and/or a sprinkle of nutmeg! Now you have the perfect pumpkin spice latte, all made from the comfort of your home.