Preheat oven to 350°F. Line a muffin tin with silicone or paper liners.
Whisk together mashed sweet potato, milk, eggs, maple syrup, oil and vanilla in a large mixing bowl.
Combine flour, cinnamon, baking powder, baking soda and salt in a medium mixing bowl.
Add the dry ingredients into the bowl with the wet ingredients and mix until just combined. There may be a few lumps, that’s totally fine. Just don’t over mix!
Divide the batter evenly between muffin cups.
Bake cupcakes for 17-20 minutes, or until a toothpick inserted into a cupcake comes out clean.
Let cupcakes cool in the tin for a few minutes, then remove so they don’t continue to cook and let cool completely on a wire rack.
While cupcakes are cooling, make the cream cheese frosting. Add all ingredients to a medium mixing bowl and use a hand mixer on medium speed to whip all the ingredients together until smooth and fluffy, scraping down the sides as needed. Alternatively, you can use a stand mixer.
Once cupcakes are cool, frost and serve.