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Bring a large pot of water to a boil and add the sweet potatoes. Cook until tender, about 25-30 minutes.
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While the sweet potatoes are cooking, heat the butter in a small pan. Saute the garlic until softened.
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In large bowl, add the drained sweet potatoes and garlic. Mash and add the milk until they reach the desired consistency.
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Stir in the goat cheese.