Whisk milk, pumpkin, maple syrup, cinnamon, ginger, and nutmeg in a saucepan over medium heat.

Cook 4 to 5 minutes until steaming and fully blended; do not boil.

Remove from heat; stir in vanilla. Froth with a whisk or handheld frother for 30 seconds.

Divide espresso between 2 mugs; pour pumpkin milk over it.

Rest 1 minute to let foam settle evenly.