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Combine sugar and gelatin in a medium saucepan; stir in milk and egg yolks. Cook and stir over medium heat until gelatin is dissolved and mixture just begins to bubble. Remove from heat. Stir in pumpkin, ginger and vanilla. Transfer mixture to a large bowl. Cool about 20 minutes.
Fold whipped topping into pumpkin mixture. Spoon into six 6-ounce tall glasses or serving dishes. Cover and chill about 5 hours or until firm. To serve, top each serving with a gingersnap half.