In a small pot, combine the milk and pumpkin puree (and Splenda, if using). Heat over medium-low heat, stirring occasionally, until the milk begins to simmer. Whisk vigorously until frothy. Turn heat down to low, and add in the vanilla syrup (or vanilla extract), cinnamon, nutmeg, and ginger. Whisk until fully incorporated.
Pour the espresso of coffee into a mug, and pour the milk mixture on top. Sip and enjoy!