Bring a large pot of water to a boil. Add the sweet potatoes and cook until they are soft and tender, anywhere from 20 to 30 minutes depending on the size.
Drain the sweet potatoes well and return to the pot.
Using a potato masher or a hand mixer, mash or beat the potatoes until smooth, adding in the butter and letting it melt into the hot potatoes.
Add in the maple syrup. Mix, then add in brown sugar to taste, you may not want them that sweet. If wanted, add in some honey to add another taste to it!
Add in the milk if you need to, using more or less to achieve desired texture.
Serve warm.
Notes
You can adjust EVERYTHING in this recipe to taste! More or less butter, spices, syrup and sugar, everything can be made to your personal preference.
You can use honey instead of maple syrup, or a little of each. It really comes down to what you love flavor-wise.