Put medium bowl in freezer.
In a large bowl, mix pumpkin and yogurt, using a whisk.
Sprinkle gelatin on orange juice and let sit for about three minutes, just enough time to get maple syrup ready.
Bring maple syrup to a boil on medium-high heat in a small sauce pan, stirring constantly.
Pour boiling maple syrup over orange juice and stir until gelatin has melted.
Pour maple syrup mix into pumpkin preparation and mix well, using a whisk.
Add orange zest and spices; stir to combine.
In chilled bowl, whip cream to firm peaks, using a hand mixer.
Use your mixer to whip pumpkin mix for about one minute.
Fold whipped cream gently into pumpkin mix, using a spatula.
Ladle into serving cups and chill in the refrigerator for two to three hours, until set.