Combine almond milk, pumpkin puree, sugar, oil, and vanilla extract in a bowl. Add flour, pumpkin pie spice, baking powder, salt, baking soda, and nutmeg. Stir until well combined.
Preheat a 4-inch mini waffle iron according to manufacturer’s instructions. Pour in about 2 tablespoons batter per waffle and cook until golden brown, about 5 minutes.
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