Add the milk, pumpkin puree, brown sugar, pumpkin pie spice, and vanilla extract to a saucepan. Warm everything over low to medium heat, stirring occasionally. Make sure the milk gets hot and steamy, but do not let it come to a boil.
Once the mixture is warm, whisk it well to create a light, frothy texture. Keep whisking while it heats until the milk becomes nice and foamy.
Take the saucepan off the heat. Pour 2 shots of espresso into your favorite coffee cup, then pour in the warm pumpkin milk mixture. Give everything a good stir.
Top your fall drink with whipped cream and a sprinkle of cinnamon or pumpkin pie spice.
Settle in and enjoy the change in weather with a warm, cozy cup of homemade Pumpkin Spice Latte.