Bring first 4 ingredients to a boil in a large saucepan over medium-high heat; reduce heat to low.
Stir in flour and pumpkin pie spice, beating with a wooden spoon 1 1/2 to 2 minutes or until mixture leaves sides of pan. Remove from heat, and cool slightly.
Add eggs, 1 at a time, beating until smooth after each addition.
Line 2 large baking sheets with parchment paper.
Spoon batter into a decorating bag fitted with a #4 star tip; pipe 24 (1 1/2-inch) mounds, 2 inches apart, onto baking sheets.
Bake at 375° for 30 minutes or until puffed and golden. Transfer to wire racks to cool.
Cut tops from puffs, and fill with a scoop of ice cream. Replace tops; dust with powdered sugar. Spoon Warm Cranberry Compote onto individual serving dishes; top with puffs, and garnish, if desired.