Make the pumpkin foam: Whisk together the whipping cream, sweetened condensed milk and vanilla. Add in the pumpkin puree and pumpkin pie spice and whisk until smooth. Place in the refrigerator until ready to use.

Pour chilled coffee in a glass over ice, leaving half an inch of space at the top for foam.

Whip about half a cup of the foam mixture in a personal blender or in a bowl with a milk frother until light and airy.

Scoop the foam onto the iced coffee and sprinkle some pumpkin spice on top.