Sweet Potato Prep: Wash, dry, and poke the Japanese sweet potato all over with a fork. Add it to a baking sheet and roast it at 400F (204C) until soft, about an hour. Cook time will depend on the size - I used 3 small ones. You can do this step up to 3 days in advance and store them in the fridge. Preheat your oven to 350F (175C). Line a muffin tin with 6 liners or grease well.
In a large bowl, mash the cooked Japanese sweet potato until smooth. Add the eggs, milk, maple syrup or honey, and vanilla. Mix well.
Add the flour, baking powder, baking soda, salt, and cinnamon (if using) to the bowl. Stir gently until just combined. Do not overmix.
With a large cookie scoop, divide the batter evenly into 6 muffin cups, filling each about 3/4 full.
Bake for 18-22 minutes at 350F (17%C), or until a toothpick inserted in the center comes out clean. Mine took 22 min. Let cool in the pan for 5 minutes before transferring to a wire rack.
Notes
Sweet Potato Swap: Use regular sweet potato or pumpkin purée (not pumpkin pie mix) in place of Japanese sweet potato. Keep in mind these swaps will contain more moisture so you may need to adjust the flour. See my Healthy Pumpkin Muffins recipe for exact quantities.
Sweetener Options: Maple syrup adds a subtle caramel flavor, but honey or agave work just as well.
Flour Substitutions: Swap all-purpose flour with oat flour, almond flour, or a 1:1 gluten-free blend.
Milk Alternatives: Any dairy or non-dairy milk works here. Yogurt or applesauce also work.
Add Some Crunch: Fold in chopped nuts for texture and a boost of healthy fats.
Freezer Friendly: Freeze baked muffins for up to 2 months in a freezer-safe container or bag. Reheat in the oven or in the microwave in 30 second bursts.