Peel each sweet potato with a peeler and cube with a knife. Do not worry about shape as we will blend this later.
Boil water in large pot on high heat and add sweet potatoes to cook for 15 minutes (until it is tender enough to pierce with a fork).
Drain the water from the pot and then transfer the sweet potatoes to a blender.
Melt butter with one cup heavy cream in a microwave safe bowl. Transfer these ingredients to a liquid measuring cup.
Add vanilla paste, cinnamon, brown sugar, salt and maple syrup to measuring cup and combine with whisk.
Add the mixture in the measuring cup into the blender and blend until mixture is smooth.
Separately, whip two cup cold heavy cream in a standing mixer or a large bowl with a mixer on medium until soft peaks form.
Carefully fold in sweetened condensed milk and vanilla into the whipped cream with a spatula.
Carefully fold 2 cups of the sweet potato mash into the heavy cream and sweetened condensed milk mixture until fully incorporated.
Pour ice cream mixture into container (we suggest a loaf pan) and cover with plastic wrap.
Freeze for at least 2 hours if you want a soft serve consistency or 4 hours if you would like hard ice cream. We suggest letting it thaw slightly on the countertop before serving. Add your favorite toppings and enjoy!