Place the milk, pumpkin, maple syrup and pie spice in a small saucepan and heat over low heat. Cook, whisking constantly, until the mixture is combined and comes to a simmer. Turn off the heat.
Drizzle a mug with caramel sauce. Pour the coffee, coffee liqueur and warm milk mixture into the mug. Top with whipped cream and a sprinkle of pumpkin pie spice. Enjoy!