01 - Preheat oven to 350°F. Lightly grease a 9 x 13 inch baking dish.
02 - Place sweet potatoes in a large pot, cover with water, and bring to a boil. Cook for 15 to 20 minutes until tender. Drain thoroughly.
03 - Mash the drained sweet potatoes until smooth in a large bowl. Stir in melted butter, milk, maple syrup or brown sugar, eggs, vanilla extract, cinnamon, nutmeg, and salt until fully incorporated.
04 - Spread the sweet potato mixture evenly in the prepared baking dish.
05 - In a separate bowl, mix pecans, brown sugar, flour, melted butter, cinnamon, and salt until the mixture is crumbly and coated evenly.
06 - Sprinkle the pecan streusel evenly over the sweet potato layer. Bake for 35 to 40 minutes until topping is golden and filling is set.
07 - Allow to cool at least 10 minutes before serving to set the casserole.