Whisk together the cream, milk, maple syrup, pumpkin puree, cinnamon, nutmeg, allspice, and cloves in a medium pot set over medium heat. Cook, stirring frequently, until just simmering.
Remove the pot from the heat and blend in the vanilla. Allow to cool at room temperature for about 30 minutes before transferring to a jar or bottle and storing in the refrigerator for 7 to 10 days. Shake well before using.