(This recipe uses this ice cream maker with a 1 ½ quart freezer bowl. Prep the freezer bowl by placing it in the freezer at least 24 hours in advance.)

In a large bowl, use a rubber spatula to mix together the sweetened condensed milk and pumpkin puree until fully combined. Stir in the pumpkin pie spice, then gently fold in the Cool Whip, stirring just a few times.

Place the pumpkin mixture into the freezer bowl of your ice cream maker. Turn the ice cream maker on and then add the milk or heavy cream while it is churning. Let it continue to churn for 25 to 30 minutes, or until it reaches the desired consistency. Serve immediately.