Preheat the oven to 350°F (175°C). Grease or line a loaf pan with parchment paper.
In a medium bowl, whisk together flour, pudding mix, baking soda, salt, and cinnamon.
In a separate bowl, whisk eggs, sugar, and vanilla until smooth. Add pumpkin puree, oil, and milk; mix until well combined.
Gently fold the dry ingredients into the wet mixture until just combined. Avoid overmixing.
Pour batter into the prepared pan and bake for 55–60 minutes, or until a toothpick inserted in the center comes out clean.
Allow to cool for 10 minutes in the pan, then transfer to a wire rack to cool completely. Slice and enjoy!