In a small saucepan, whisk together the milk, pumpkin puree, sugar, vanilla extract, pumpkin pie spice, and cinnamon. Heat over medium-low heat until the mixture begins to steam. Avoid bringing the mixture to a boil.
When the milk is hot, whisk the mixture quickly until bubbles begin to form.
Pour ½ cup coffee into each mug. Top the coffee with the milk mixture.