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Place cashew milk in a small pot; sprinkle gelatin on top and mix well, making sure there are no lumps; let sit 3 minutes while gelatin softens. Place pot on stove and heat on medium-low until gelatin just melts, about 3 minutes (do not boil).
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Place pumpkin, egg yolks, 1/2 cup maple syrup, cinnamon and 1 teaspoon vanilla extract in a large bowl. Beat until smooth. Gradually pour in melted gelatin and continue to beat until mixed through. (If you have a food processor, you can use that for an even smoother consistency). Cover and refrigerate for two hours.
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Place heavy cream in a small bowl and beat until soft peaks form; add 1 tablespoon maple syrup, and 1/2 teaspoon vanilla extract and beat until stiff peaks form. Add Greek yogurt and beat until mixed thoroughly.
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To assemble parfaits, place one gingersnap cookie in the bottom of each of four 1/2-pint jars or serving glasses. Spoon 1/4 cup pumpkin mixture on top of each cookie; sprinkle some crumbled gingersnap cookies on top; spoon a dollop of whipped yogurt cream on top. Divide remaining pumpkin mixture among four jars. Top with remaining whipped yogurt cream and garnish each serving with a whole cookie.