Add the pumpkin, pumpkin pie spice, pepper, sugar, vanilla and milk to a small saucepan. Heat over medium heat until hot and fragrant, whisking constantly to prevent it from burning and to blend all ingredients well.
Once heated through, blend or whisk the milk mixture until frothy by either carefully blending with a hand blender or in a traditional blender. If you don’t have either of these, whisk vigorously for approx 30 seconds.
Add the coffee or espresso to your favorite mug and pour the milk mixture over top. Sprinkle with a pinch of pumpkin pie spice.