In a small bowl, combine the warm milk and active dry yeast. Stir gently and let sit for 5 to 10 minutes until foamy.
In a large mixing bowl, whisk together the sugar, pumpkin puree, melted butter, egg, and vanilla extract until smooth.
Add the foamy yeast mixture to the pumpkin mixture and stir to combine.
In a separate bowl, whisk together the flour, ground cinnamon, ground nutmeg, ground ginger, and salt.
Gradually add the dry ingredients to the wet ingredients, mixing with a wooden spoon or dough hook attachment until a soft dough forms.
Turn the dough onto a lightly floured surface and knead for about 8 to 10 minutes until smooth and elastic. Alternatively, knead with a stand mixer fitted with a dough hook for 6 to 8 minutes.
Place the dough in a lightly greased bowl, cover with a clean kitchen towel or plastic wrap, and let it rise in a warm place for 1 to 1.5 hours, or until doubled in size.
Punch down the dough and shape it into a loaf. Place it in a greased 9×5-inch loaf pan.
Cover the loaf pan loosely and let the dough rise again for 30 to 45 minutes, until it has risen about 1 inch above the pan.
Preheat the oven to 350°F (175°C).
Bake the pumpkin bread for 30 to 35 minutes, or until the top is golden brown and a toothpick inserted into the center comes out clean.
Remove the bread from the oven and let it cool in the pan for 10 minutes.
Transfer the bread to a wire rack to cool completely before slicing.