Make the Spice Pouch
Place 2 - 4”x4” squares of fine mesh cheesecloth together (or 1 coffee filter) and set on the counter.
Place cinnamon, nutmeg, cloves and ginger in the middle of the cheesecloth. Stir gently to combine the spices.
Gather all sides of the cheesecloth together, forming a little pouch.
Wrap a few inches of kitchen string around the cheesecloth, staying just at the top of where the spices are.
Tie string tightly and double knot so the spices can’t escape.
Set your spice pouch aside.
Make the milk
Place milk, maple syrup, and vanilla in a small saucepan over medium-low heat.
Warm the mixture, stirring occasionally, until syrup has dissolved and milk is hot but not bubbling or boiling.
Whisk in pumpkin puree.
Remove milk from heat and add spice pouch to the hot milk mixture.
Gently push it down into the milk until the spices inside the pouch have been submerged.
(The top of the cheesecloth/coffee filter will stick up from the milk. That’s ok, just make sure those spices are below the surface.)
Let steep for 1-2 hours while the milk cools.
Remove spice pouch from cooled milk. Gently squeeze to remove liquid from the cheesecloth/coffee filter and spices. Dispose of spice pouch.
Store milk in the refrigerator.