Preheat the oven to 375°F. Lightly grease an 8x8-inch baking dish.
In the baking dish, whisk together the pumpkin, milk, Greek yogurt, eggs, vanilla, and maple syrup until well combined.
Add the oats, pumpkin pie spice, cinnamon, chia seeds, baking powder, and salt. Stir until everything is evenly combined.
Fold in the chopped walnuts or pecans, then spread the mixture into an even layer.
Bake for 30–35 minutes, or until the center is set.
Let cool for 10–15 minutes before slicing. Serve warm with a drizzle of maple syrup, a spoonful of Greek yogurt, nut or seed butter, fresh fruit, or a splash of milk. For babies, you can skip the maple syrup and serve with plain yogurt or mascarpone and soft fruit.
Notes
Don't skip the cooling time - The oatmeal will look soft right out of the oven. Cooling for 10–15 minutes lets the oats absorb the remaining moisture and firms up the pieces.
Once completely cooled, store the baked oatmeal in an airtight container in the refrigerator for up to 5 days.