Put the cut-up sweet potatoes in a large pan and cover with cold water. Cover the pan and place over high heat. Bring to a boil and continue to cook until tender, about 10 minutes. Drain the sweet potatoes and return to the hot pot. Put back on the stove over medium heat and cook, stirring constantly for 1 minute to remove extra moisture. Mash the sweet potatoes coarsely in the pot with the salt and pepper. Add the butter and maple syrup and mash to combine. Add the cream, half and half or milk, a little at a time and mash until you reach the desired consistency.