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In a covered large saucepan, cook sweet potatoes in enough lightly salted boiling water to cover for 25 to 30 minutes or until very tender. Meanwhile, preheat oven to 350°F. Lightly coat a 1-1/2- to 2-quart oval baking dish or a 2-quart square baking dish with cooking spray; set aside.
Drain the sweet potatoes; return to the pot. Using an electric mixer or potato masher, mash until smooth. Stir in 1/4 cup brown sugar, eggs, nutmeg and cinnamon. Add milk; stir to combine. Pour into the prepared baking dish.
In a small bowl, combine pecans, the remaining 1/4 cup brown sugar, flour and melted butter; sprinkle over the sweet potatoes.
Bake, uncovered, for about 30 minutes or until the sweet potatoes are heated through and the topping is golden brown. Serve warm.