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Preheat oven to 425°F. Place frozen pie crust on large foil-lined baking sheet.
Mix pumpkin, milk, eggs, pumpkin pie spice and vanilla in large bowl until smooth. Pour into crust.
Bake 15 minutes. Reduce oven temperature to 350°F. Bake 40 minutes longer or until knife inserted 1 inch from crust comes out clean. Cool completely on wire rack. Serve with Vanilla Whipped Cream, if desired.