Peel and chop the sweet potatoes into 1-inch pieces.
Cover the potatoes with water in a large saucepan or a stockpot and bring it to a boil over high heat.
Simmer the potatoes until they are fork tender, 10-15 minutes.
Drain them thoroughly, and use a mixer to whip them, adding the butter or margarine, maple syrup or brown sugar, and milk, until they are smooth.
Optional step: Transfer the whipped potatoes to a small casserole and bake it at 400 degrees until the top of the potatoes start to brown, 10 - 15 minutes.
Notes
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