Preheat the oven to 350°F (175°C).
Peel and chop the sweet potatoes, then boil them until tender.
Drain the sweet potatoes and mash them in a large bowl.
Stir in maple syrup, melted butter, milk, eggs, vanilla, cinnamon, and salt until well combined.
Pour the sweet potato mixture into a greased baking dish.
In a separate bowl, mix chopped pecans with a bit of melted butter and a sprinkle of brown sugar, then sprinkle over the sweet potato mixture.
Bake for 30-35 minutes until the top is golden brown.
Let it cool for a few minutes before serving.