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1. In a medium saucepan, stir together sugar and gelatin. Stir in milk and egg yolks. Cook and stir over medium heat until gelatin is dissolved and mixture just begins to bubble. Remove from heat. Stir in pumpkin, ginger, and vanilla. Transfer mixture to a large bowl. Cool about 20 minutes.
2. Fold dessert topping into pumpkin mixture. Spoon into six 6-ounce tall glasses or serving dishes. Cover and chill about 5 hours or until firm. To serve, top each serving with a gingersnap half. Makes 6 (1/2-cup) servings.