**Activate the Yeast:** In a small bowl, combine warm milk, sugar, and yeast. Let sit for 5–10 minutes until foamy.

**Mix the Dough:** In a large bowl or stand mixer, combine sweet potato, butter, egg, and yeast mixture. Gradually add flour and salt, mixing until a soft dough forms. Knead for 5–7 minutes until smooth and elastic.

**First Rise:** Place the dough in a greased bowl, cover, and let rise in a warm place for 1–1.5 hours or until doubled in size.

**Prepare the Filling:** Mix the softened butter, brown sugar, and cinnamon until smooth.

**Roll and Fill:** Punch down the dough and roll it into a 16x12-inch rectangle. Spread the filling evenly over the dough.

**Roll and Cut:** Roll the dough tightly into a log and cut into 12 equal pieces. Place the rolls in a greased 9x13-inch baking dish.

**Second Rise:** Cover and let the rolls rise for 30–45 minutes until puffy.

**Bake:** Preheat oven to 350°F (175°C). Bake the rolls for 25–30 minutes or until golden brown.

**Make the Glaze:** Beat cream cheese and butter until smooth. Add powdered sugar, vanilla, and milk, and mix until creamy.

**Glaze and Serve:** Spread the glaze over the warm rolls and serve.