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In a large bowl, whisk together pudding mix, spices, and salt. Add pumpkin, maple syrup, vanilla, and whole milk and beat with a hand mixer until smooth.
In another large bowl, whip heavy cream until stiff peaks form, 3 to 4 minutes. Fold two-thirds of the whipped cream into pumpkin mixture until smooth. Spoon or pipe into serving dishes and top with remaining whipped cream. Garnish with a sprinkle of cinnamon and serve.