In 3-quart saucepan, place water, piloncillo, cinnamon sticks, anise stars, and whole cloves. Heat to boiling, stirring with a wooden spoon until piloncillo dissolves.
After 5 minutes, add sweet potatoes. Reduce heat; cover and simmer 30 to 45 minutes.
Remove and discard cinnamon sticks, anise stars, and cloves. Reserve syrup.
Serve sweet potatoes topped with reserved warm sweet syrup. Garnish with milk.
