In a small saucepan over medium heat, whisk together the pumpkin puree, granulated sugar, pumpkin pie spice, and salt until glossy and fragrant, 2–3 minutes.
Whisk in the milk and heat until hot with small bubbles forming at the edges but not boiling, 3–5 minutes; remove from heat and whisk in the vanilla. For an ultra-smooth texture, strain through a fine-mesh sieve, 15–30 seconds.
While the milk heats, brew 2 ounces espresso (about 1 ounce per drink), 25–35 seconds, until dark and aromatic.
Froth the hot pumpkin-milk mixture with a whisk or milk frother until lightly foamy, 20–30 seconds.
Divide the espresso between two warmed mugs, 5 seconds, then pour in the pumpkin-milk mixture, holding back the foam; spoon foam over the top, 15–20 seconds.
Top with whipped cream and a pinch of ground cinnamon, and serve hot immediately.