In a small bowl, whisk together warm milk, yeast, and one tablespoon of sugar. Let sit for five to 10 minutes until foamy.

In a large mixing bowl, combine flour, remaining sugar, salt, oil, and mashed sweet potato.

Pour in the yeast mixture and mix until a rough dough forms.

Knead the dough on a lightly floured surface (or use a stand mixer with a dough hook) for eight to 10 minutes, until smooth and elastic.

Place dough in a greased bowl, cover, and let rise in a warm place for one to one and a half hours, or until doubled in size.

In a small bowl, mix together softened butter, sugar, and cinnamon until combined.

Once the dough has risen, punch it down and roll it out on a lightly floured surface into a large rectangle (about 16×24 inches).

Spread the cinnamon-sugar butter evenly over the dough.

Roll the dough tightly from the long side to form a log.

Cut into 18 equal pieces and place in a greased 9×13-inch baking dish and 8×8 baking dish

Cover and let rise again for 30 to 45 minutes, until puffy.

Preheat the oven to 350 degrees Fahrenheit (175 degrees Celsius).

Bake for 20 to 25 minutes, or until golden brown and set in the center.

In a bowl, whisk together Greek yogurt, heavy cream, vanilla, and confectioners’ sugar until smooth.

Adjust sugar for desired thickness.

Let the rolls cool for five to 10 minutes, then spread the topping over them.