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Wash sweet potato, pierce with a fork, and cook on high for 6-8 minutes, or until tender. Let cool to touch.
Scoop flesh out of potato, and transfer to a small bowl.
Mash with vanilla and cinnamon if using.
Transfer to a freezer-safe container with a lid, and freeze sweet potato at least 2 hours or overnight.
Slice banana, and freeze at least 2 hours, or overnight.
Once frozen, add potato and banana to a food processor or high-powered blender, and blend until smooth.
Top with additional cinnamon and maple syrup or honey if desired, and serve for a soft-serve texture, or freeze until firmer for hard ice cream texture.