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Gather the ingredients. Preheat oven to 375 F.
Spray a 1-quart casserole dish with cooking spray.
Steam the sweet potatoes in microwave according to package directions.
Pour the sweet potatoes into a mixing bowl. Add the milk, butter, brown sugar, and salt.
Mash until smooth and pour into the prepared dish.
Gather the streusel ingredients.
Mix together to form a topping.
Sprinkle over the sweet potatoes.
Bake 25 minutes, until topping is browned and the sweet potatoes are heated through.
Serve and enjoy!