Combine 1 cup pumpkin puree, 1 quart whole milk, 1/4 cup sugar, 1 teaspoon ground cinnamon, and 1 tablespoon vanilla extract in a saucepan over medium heat. Whisk to combine and heat until warmed through and through. Do not boil.
When heated to your liking, remove from heat and pour into serving cups. Top with whipped cream, a sprinkling of cinnamon, and add a cinnamon stick if you like. Enjoy!