Heat the milk and the 4 tbsp butter together in a small pan onthe stove over low/medium heat until the butter melts and the milk is warm tothe touch.
Remove from heat, let cool about 10 minutes until the temperaturecools to 105 degrees.
Sprinkle in the yeast and stir soyeast will dissolve. Let yeast mixture sit for five minutes.
Meanwhile, combine the mashed sweet potato and eggs in the bowlof an electric mixer with the paddle attachment.
In another bowl whisk together the flour, sugar, salt, cardamom,cinnamon, nutmeg and allspice.
Add flour mixture to the sweet potato mixture. With mixerrunning on low speed, slowly pour in the yeast and milk.
Knead for about six minutes on medium speed with either a paddleattachment or dough hook. The dough should be smooth and elastic when you’re done.
Place dough in a greased bowl, cover with a dishcloth and set ina warm area to rise for 1 hour 15 minutes. Mix together the brown sugar andcinnamon (pecans optional) in a small bowl.
Remove dough and punch dough on a lightly floured surface. Rollout to a large rectangle and spread soft butter on top. Sprinkle brown sugarmixture on top keeping an inch bare around the sides.
Gently roll up dough so it resembles a log. Slice dough into 1/2inch slices and place in a greased 9 x 13″ dish. Cover with a dishcloth and letrise for another 45 minutes.
Preheat oven to 350 degrees. Bake rolls for 25 minutes. Let coolwhile you make the glaze.
For the glaze, mix together the powdered sugar, milk and mapleextract. Frost the cinnamon rolls with the glaze and serve.