Whip the heavy cream until soft peaks form. In a separate bowl, whisk the sweetened condensed milk, pumpkin, & vanilla. Add the pumpkin mixture to the whipped heavy cream and mix.
In a sauce pan, combine the coffee, milk, pumpkin puree, sugar, cinnamon, ginger, nutmeg & cloves. Whisk until combined.
Pour the latte into a mug and top with the pumpkin foam. Sprinkle with cinnamon and enjoy!