If your Instant Pot model doesn't have a yogurt setting, you can still make this recipe! Set your Instant Pot to the "sauté" mode and press the button an additional time to move it over to the "more" setting. Add the milk, sugar, and pumpkin pie spice. Whisk together. Allow the mixture to heat on the sauté function, stirring often to prevent scorching. Once the milk has reached a warm, but not hot temperature (between 150-180F), turn off the sauté function. Add in the vanilla extract and stir. Serve immediately with whipped cream and a pinch of pumpkin spice on top.