Brew the espresso or strong coffee and pour it into a large mug.
In a small saucepan over medium heat, whisk together the milk, pumpkin puree, maple syrup, pumpkin pie spice and salt. Heat for 3 to 4 minutes, whisking often, until steaming with small bubbles at the edge. Don't let it boil.
Take the pan off the heat and whisk in the vanilla. Froth with a handheld frother, or whisk hard for 30 seconds until foamy.
Pour the pumpkin milk over the espresso, spoon the foam on top and dust with cinnamon.
Iced version: whisk the milk, pumpkin, maple, spice, vanilla and salt together cold, shake in a jar, pour over ice and top with the cooled espresso.