Preheat oven to 350°F (175°C) and lightly grease a muffin tin.

Roll out the pie crusts and cut out circles using a round cutter. Press into the muffin tin cups.

In a bowl, whisk together the pumpkin puree, sweetened condensed milk, egg, pumpkin pie spice, and vanilla extract.

Spoon the filling into each crust, filling about 3/4 full.

Bake for 25–30 minutes, until set and slightly golden.

Let cool in the tin for 10 minutes, then transfer to a wire rack.

Chill for 1 hour before serving with whipped cream.