You could buy pre-cooked mashed pumpkin in a can, or buy fresh pumpkin and baked or steam cook it yourself.
In a mixing bowl, mash tofu thoroughly with a fork. Combine all ingredients and mix well by hand or in food processor or blender for creamier texture. Don't use too much "milk" or pie will be mushy.
Transfer mixture onto pie crest. Bake approximately 40-45 minutes. Let cool slightly before serving.
Variation: instead of tofu, you could also make this pie with avocado. Use one medium-large ripe avocado.
Optional: add carob chips or vegan chocolate chips into mixture before baking.

1 medium ready made pie crest
6 ounce firm silken tofu
2 cup baked pumpkin, mashed
3/4 cup pure maple syrup
1/4 cup soy, rice, or almond milk
1 teaspoon vanilla extract
3 teaspoon pumpkin spice powder (cinnamon, nutmeg, lemon peel, cardamon)