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Combine the oat milk, pumpkin purée, maple syrup, cinnamon, ginger, nutmeg, cloves, and vanilla extract in a small saucepan over medium heat. Whisk constantly until the mixture is steaming and small bubbles form around the edges, about 4–5 minutes — do not let it boil.
Carefully transfer the hot pumpkin milk to a blender. Blend on high for 20–30 seconds until smooth and frothy.
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