To the cold coffee add vanilla and sugar; stir and set aside.
In a glass measuring cup or a steaming pitcher, combine milk, pumpkin puree, vanilla, and pumpkin pie spice. Using a milk frother, froth the milk for 2 to 4 minutes, or until it reaches a foam-like consistency.
Fill a drinking glass with ice; pour the coffee over the ice, and then spoon the pumpkin foam on top.