Mix pumpkin puree, sugar, milk, salt and spices and pour into a pan at medium heat. Bring to a boil and Cook for 6 to 8 minutes to thicken. Mix in the vanilla and take off heat.
Cooking time is dependent on your stove and moisture in the pumpkin puree. Cook longer until the caramel is a thick liquid that doesn't flow off the spoon quickly.
If the caramel is too thin. then chill for a few hours before using.