Dice 2 cups sweet potatoes into 1-inch cubes. Bring a pot of water to a boil, add the sweet potatoes, and boil until they are fork tender. Drain the water and mash the boiled sweet potato until smooth.
In the bowl of a stand mixer, mix 2 ¼ teaspoons active dry yeast, 2 tablespoons sugar, and 1 cup warm whole milk. Let it sit until it starts to froth, about 5 minutes.
To the yeast mixture, add the mashed sweet potato, ¼ cup unsalted butter, 3 ½ to 4 cups all-purpose flour, and 1 teaspoon salt. Using a dough hook, mix on low until combined.
Once the dough reaches the desired texture, mix for an additional 2 to 4 minutes on medium speed to develop the gluten.
Remove the dough from the mixing bowl and place it into a lightly greased bowl. Cover with plastic wrap or a warm towel and let it rise for about 1 hour.
After the dough has risen, gently fold it and return it to the bowl for another 30 minutes.
Prepare your baking pan by lining it with parchment paper and lightly spraying with cooking spray.
When the dough has risen again, dump it onto a floured surface and cut out 12 rolls.
Roll the dough sections into balls and place them on the prepared baking sheet. Let them proof until double in size.
Once the rolls have proofed, bake at 375 degrees Fahrenheit for 10 to 15 minutes until golden brown.
While baking, whisk together ¼ cup salted butter, 3 tablespoons brown sugar, and 1 tablespoon cinnamon for the glaze.
Brush the warm rolls with the glaze after baking and allow them to rest before serving.
