Add pumpkin puree, honey and coffee to a blender (or whisk well in a bowl) until smooth. Pour into an ice cube mold and freeze overnight, or for at least 4 hours, until hardened.
Add 1 cup of milk to a blender and add 2-3 cubes of frozen coffee. Add 1 teaspoon pumpkin pie spice per cup of milk and blend until thick and smooth.
Optional: top with whipped cream and sprinkle with cinnamon.