Preheat your oven to 375ºF. Unroll the pie dough and using a 3-inch round cutter, cut 6 circles out of each pie crust. Reroll the scraps if needed.
Spray a muffin-tin with cooking spray and press the dough into each muffin round.
Meanwhile in a bowl mix together the pumpkin puree, sweetened condensed milk, eggs, pumpkin pie spice, and vanilla extract until smooth. Pour into each crust, filling almost to the top.
Bake until filling is set, about 25-30 minutes. Cool completely. Serve.
Notes
You can use a drinking glass to cut out the circles as well.
Top with a sprinkling of powdered sugar and whipped cream if you wish!