Place the cubed sweet potatoes in a large pot. Fill the pot with water to cover. Bring to a boil over high heat.
Once boiling, reduce the heat to low and simmer until the sweet potatoes are tender, about 15 to 20 minutes. Drain well.
Transfer the still-hot sweet potatoes to a large bowl. Add the butter, honey, cinnamon, milk, and salt (if using). Using a hand mixer, whip the potatoes until light, fluffy, and creamy, about 3 to 5 minutes. (Alternatively, you can use a potato masher or a potato ricer to mash the potatoes.) Taste the potatoes and add more salt, if desired. Serve hot.
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Notes
Roasted Variation: Roasting sweet potatoes brings out a different flavor as the natural sugars caramelize during the roasting process. To roast sweet potatoes, clean them thoroughly and use a fork to poke 8 to 10 sets of holes in the skins of each for ventilation. Place them on a lightly greased baking sheet and bake in a 400-degree oven for 1 hour, or until soft. Remove the peels before combining the sweet potatoes with the rest of the ingredients as directed in steps 3 and 4.