Mix sugar, cinnamon, nutmeg, and salt together. Add the pumpkin, milk, eggs, and vanilla. Mix until well combined.
Heat a non-stick skillet over medium heat. Spray the pan with cooking spray or butter.
Dip both sides of each piece of bread in the batter (I dip it quickly because I don't like soggy French toast but leave it in there longer if you do.) and then place in the skillet. Cook on each side until golden brown.