In a small mixing bowl, combine all of the ingredients for the pumpkin swirl. Mix until everything is blended and smooth. Set aside.
In a large mixing bowl, add 2 and 1/2 cups of heavy whipping cream. Whip using an electric mixer on medium high speed until you've reached soft peaks or just before.
Add in 2 teaspoons of the vanilla pudding powder, 1 ½ teaspoons of instant coffee powder, and ¼ teaspoon of pumpkin pie spice. Continue whipping this mixture until stiff peaks.
Once you have achieved stiff peaks, add in 10 ounces of sweetened condensed milk, whip again until just combined. At this point, give the mixture a taste, if you prefer a stronger coffee flavor you can add additional coffee powder now.
Open an 8 cup, or larger, freezer safe food storage container. Starting with the ice cream base, begin layering the ice cream base mixture and the pumpkin mixture into the container, ending with a little layer of the pumpkin mixture on top.
Using a butter knife, insert the knife all the way to the bottom of the container, then twist, turn, drag, or swoop the knife vertically all around through the batter to create a beautiful swirl pattern.
Place the lid on your food storage container and put in the freezer for at least 12 hours or until completely frozen.
When frozen solid, remove from the freezer, scoop and serve.