Preheat oven to 350 degrees F (175 degrees C). Grease a 9 inch pie pan.
In a medium mixing bowl, combine pumpkin, milk, sugar, baking mix, melted butter, eggs, allspice, cinnamon, cloves, and vanilla extract. Beat on medium speed 2 minutes, until mixture is smooth. Pour mixture into pan.
Bake in preheated oven for 50 to 55 minutes, until set in center. Allow to cool before serving.