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Place an oven rack on the upper third shelf, then preheat the oven to 425 degrees F. Optionally line a large sheet pan with parchment paper or foil for easy cleanup. Spray generously with cooking spray or brush with additional olive oil to prevent the sweet potatoes from sticking.
Cut sweet potatoes into approximately 1 to 1 ½-inch pieces (either peeled or unpeeled depending on preference). Transfer to a large bowl.
Trim the tough end of brussels sprouts and slice in half from root to tip, discarding any old leaves. Add to the bowl with the sweet potatoes.
Toss the vegetables with olive oil, salt, pepper, garlic powder and paprika, stirring well to make sure spices are evenly distributed.
Spread in a single layer on the prepared baking sheet, then roast for 25 to 30 minutes, stirring after 15 minutes, until the veggies are caramelized on the outside and tender on the inside.
If using, drizzle balsamic glaze lightly on top and/or sprinkle with fresh thyme leaves.