1. Place cashew milk in a small pot; sprinkle gelatin on top and mix well, making sure there are no lumps; let sit 3 minutes while gelatin softens. Place pot on stove and heat on medium-low until gelatin just melts, about 3 minutes (do not boil).
2. Place pumpkin, egg yolks, 1/2 cup maple syrup, cinnamon and 1 teaspoon vanilla extract in a large bowl. Beat until smooth. Gradually pour in melted gelatin and continue to beat until mixed through. (If you have a food processor, you can use that for an even smoother consistency). Cover bowl with plastic wrap and refrigerate for two hours.
3. Place heavy cream in a small bowl and beat until soft peaks form; add 1 tablespoon maple syrup and 1/2 teaspoon vanilla extract, and beat until stiff peaks form. Add Greek yogurt and beat until mixed thoroughly.
4. To assemble parfaits, place one gingersnap cookie in the bottom of each of four 1/2-pint jars or serving glasses. Spoon 1/4 cup pumpkin mixture on top of each cookie; sprinkle some crumbled gingersnap cookies on top; spoon a dollop of whipped yogurt cream on top. Divide remaining pumpkin mixture among the four jars. Top with remaining whipped yogurt cream and garnish each serving with a whole cookie.