Preheat oven to 350°.
Place bread cubes in a large bowl. Combine milk and next 7 ingredients in a large bowl, stirring well with a whisk. Pour pumpkin mixture over bread cubes, folding mixture gently to coat bread cubes; let stand 15 minutes.
Spoon bread cube mixture into a 13 x 9-inch baking dish coated with cooking spray.
Bake at 350° for 35 minutes or until pudding is set. Remove from oven; let let stand 15 minutes. Serve warm with ice cream.