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Peel the sweet potatoes and cut them into 1-inch (or thereabouts) cubes. Place the potatoes in a pot and cover with water. Heat to boiling and cook for 15 to 20 minutes or until tender. Drain the potatoes, allow to cool slightly, and mash well.
Preheat the oven to 350° and lightly spray a 2-quart baking dish with nonstick cooking spray. In a large bowl, mix the mashed sweet potatoes with the sugar, milk, eggs, and vanilla extract until well combined. Pour the mixture into the prepared dish and bake for about 45 minutes or until slightly set.