In a saucepan, using a whisk, mix together almond milk, pumpkin, sugar substitute and heat on medium heat, stirring constantly, until steaming. Remove from heat, stir in vanilla extract and pumpkin pie spice. Transfer to a blender and process for 15 seconds until foamy. If you don’t have a blender, don’t worry about it. Just whisk the mixture continuously with a wire whisk until foamy.