In a small bowl, mix pumpkin, milk, melted butter, and vanilla until well combined. Pour the liquid ingredients into the dry ones and mix until you have a thick batter. Pour the mixture into a small baking dish that is 8 inches wide and has tall edges.
In another bowl, mix sugar, brown sugar, and pecans. Spread the mixture evenly on top. Pour hot water over everything {WITHOUT MIXING!} and bake for 40 minutes or until the center is firm. {Make sure to put it on a baking sheet in case it overflows.} Let it cool for 5 to 10 minutes before serving. Add extra pecans and vanilla ice cream on top.
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