In a pot, bring condensed milk, pumpkin puree, maple syrup, agave nectar, and salt to a boil.
reduce to a simmer and let cook down for about 10 minutes. Take off heat and place into a container.
Stir 1 tbsp of the pumpkin sauce into about 1/2 cup of coffee, add a scoop of ice cream on top and drizzle a little more of that pumpkin sauce over it. Enjoy!