Preheat your oven to 400F and line a baking sheet with aluminum foil.
Wash and clean your sweet potatoes, then place them on the baking sheet. Cut slits in each sweet potato.
Bake the sweet potatoes for about 1 to 1.5 hours until soft when pierced with a fork. Let cool.
Lower the oven temperature to 350F, scoop out the flesh into a bowl, and mash until desired consistency.
Mix in maple syrup, vanilla, melted butter, ground cinnamon, and heavy cream into the mashed sweet potatoes.
Transfer the sweet potato mixture into a baking dish, leveling it out evenly.