Add the ingredients to a saucepan over medium-high heat and bring to a boil. Reduce the heat and simmer for 10-12 minutes.
Add the milk to a tall glass or measuring cup then pour in 3 tablespoons of the pumpkin spice syrup. Use a hand frother to blend it together until frothy.
Add ice cubes to a tall drinking glass then pour the pumpkin spice milk mixture on top. Finish by pouring the espresso (or coffee) on top then stir to combine.
Top with whipped cream, if desired, and sprinkle with a little more pumpkin pie spice or cinnamon.