Place walnuts in food processor and pulse until ground to smallish pieces.
Add dates, cacao, coconut, hemp seeds, sea salt, pumpkin pie spice, and vanilla bean powder to the walnuts in the food processor. Pulse until all ingredients are combined and broken down into small pieces.
Add 1 T. of the non-dairy milk and pulse until the mixture comes together and begins to clump together. Open the food processor and take a pinch of the mixture to see if it holds together. If it does, don’t add any more milk. If it doesn’t hold together, add another tablespoon of milk and blend again.
Take small amounts of the mixture and roll into bite-size balls. If you want, roll in additional cacao powder.
Store in the refrigerator in a sealed container.