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Gather the ingredients.
In a medium saucepan over medium heat, combine the pumpkin, apple cider, maple syrup, pumpkin pie spice, salt, and cinnamon stick. Raise the heat to high and bring the mixture to a boil.
Lower the heat to medium and cook, stirring often, until the mixture thickens, 20 to 25 minutes.
Remove from the heat. Discard the cinnamon stick, add the vanilla and stir. Let cool for about an hour before using.
Transfer to an airtight container to store.