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In the bowl of a stand mixer: add yeast, milk, and sugar. Let sit for 5-7 minutes to activate. Mixture will be bubbly and somewhat fragrant. Then add in butter, egg, and mashed sweet potato. Attach dough hook attachment to mixer and add in flour and salt.
Knead/mix on medium-low speed until dough begins to come together. Add in more flour, a tablespoon at a time, only if needed to make sure dough does not stick to bowl. Knead dough until smooth but still soft, about 6-7 minutes. Alternatively, knead dough by hand if not using a stand mixer.
Shape the dough into a ball. Then butter (or use baking spray) a large bowl. Add the dough into bowl and turn to coat dough. Cover dough tightly with plastic wrap and let dough rise in a warm place until it doubles in size, about 1 1/2 – 2 hours.
Once dough has risen, punch dough down and turn out onto a floured work surface. Roll out dough into a rectangle (about 14×9 inches) with the longer side facing you. Use a little extra flour if dough is sticking. Filling: spread the butter over the dough and then sprinkle brown sugar, cinnamon, nutmeg, cloves, and salt evenly over the dough leaving a 1 inch border at the top and bottom.
Roll up the dough into a log starting with the longest side furthest from you. Pinch seams of dough to seal. Cut the log crosswise into 8 equal slices using a sharp knife.
Butter/spray a 9×13 inch baking pan. Arrange the slices with the cut side up in the pan. Cover with plastic wrap and transfer to refrigerator overnight, 8-12 hours. Alternatively, to make the rolls same-day, simply allow for a second rise after you roll/cut the cinnamon rolls by letting rolls sit out to reach room temperature for 1 – 2 hours, until puffy, before baking.
If making overnight rolls, remove from refrigerator and let rolls sit out to reach room temperature for 1 – 2 hours, until puffy, before baking. Preheat the oven to 350°F. Remove the plastic wrap and bake rolls until lightly golden brown, about 30 minutes. While cinnamon rolls bake, prepare icing.
Once rolls are done, immediately pour icing over rolls and serve. Enjoy!
Beat butter, cream cheese, and vanilla bean paste together until light and fluffy, about 3-5 minutes. Add powdered sugar and slowly add in milk and then maple syrup. Mix until everything is fully incorporated.