My sweet-and-earthy Homemade Pumpkin Spice Coffee Creamer is exactly the one you're looking for!
In a medium saucepan over medium low heat, whisk together the condensed milk and milk.
Once heated through add in pumpkin puree, pumpkin spice and vanilla. Allow to infuse for a few minutes before removing from the heat and straining.
Cool then cover and store in an airtight container or jar in the fridge for 6-7 days.