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In a covered large saucepan, cook sweet potatoes in enough lightly salted boiling water to cover, for 25-30 minutes, or until very tender.
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Meanwhile, preheat oven to 350.
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Lightly coat a 1 1/2-2 quart oval baking dish, or a 2 quart square baking dish with non-stick cooking spray. Set aside.
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Drain sweet potatoes, and return to saucepan.
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Using an electric mixer or potato masher, mash sweet potatoes until smooth.
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Stir in 1/4 cup brown sugar or brown sugar substitute, eggs, nutmeg, and cinnamon.
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Add milk, and stir to combine.
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Pour into the prepared baking dish.
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In a small bowl, combine pecans, 1/4 cup brown sugar or brown sugar substitute, flour, and melted butter. Sprinkle over sweet potatoes.
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Bake uncovered, about 30 minutes, or until sweet potatoes are heated through, and topping is golden brown.
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Serve warm.