Add milk, pumpkin and stevia to a medium saucepan on medium heat. Whisk to combine. Heat for approximately 7 minutes until hot, but do not boil. Remove from heat.
To make the whipped cream topping, beat together with an electric mixer whipping cream and stevia until fluffy.
Whisk in the pumpkin pie spice, vanilla extract and coffee.
Divide mixture between 4 mugs. Top with whipped cream and a sprinkle of pumpkin pie spice. Serve with a cinnamon stick if desired.