To prepare pudding, place tofu on several layers of heavy-duty paper towels. Cover tofu with additional paper towels; let stand 10 minutes. Combine tofu, condensed milk, syrup, and vanilla extract in a blender, and process until smooth. Add cinnamon and next 4 ingredients (cinnamon through pumpkin); process until smooth. Pour the pumpkin mixture into a large bowl, and fold in 1 cup whipped topping. Cover and chill at least 8 hours or overnight.
To prepare pecans, heat a medium nonstick skillet over medium heat. Add pecans, sugar, and 1/8 teaspoon salt. Cook 3 minutes or until sugar melts and coats pecans, shaking pan to evenly coat. Pour pecans onto a parchment-lined baking sheet. Let cool; coarsely chop.
To assemble desserts, spoon 2/3 cup pudding into each of 6 (6-ounce) custard cups; top each serving with 1 tablespoon whipped topping. Sprinkle about 1 1/2 tablespoons pecans over each serving.