Below is the recipe, which can also be found here.
2 cups milk
2 tablespoons canned pumpkin
2 tablespoons sugar or sugar substitute—you can halve this amount
2 tablespoons vanilla extract
1/8 teaspoon nutmeg
3/8 teaspoon cinnamon
1-2 shots espresso (about 1/4 cup of espresso or 1/2 cup of strong brewed coffee if you don't have an espresso machine)
In a saucepan combine milk, canned pumpkin, and sugar and cook on medium heat, stirring, until steaming. Remove from heat, stir in vanilla and spice, transfer to a blender, and process for 15 seconds until foamy. If you don't have a blender, don't worry about it—just whisk the mixture really well with a wire whisk.
Pour into a large mug or two mugs. Add the espresso on top.
Optional: Top with whipped cream and sprinkle pumpkin pie spice, nutmeg, or cinnamon on top.