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Combine the milk, pumpkin purée, maple syrup, cinnamon, ginger, turmeric, nutmeg, and black pepper in a small saucepan over medium heat, whisking to fully incorporate the pumpkin. Heat until steaming and small bubbles form around the edges, about 4–5 minutes — do not let it boil.
Remove the saucepan from the heat and stir in the vanilla extract.
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