Wash the sweet potatoes thoroughly and peel them.
Cut the sweet potatoes into appropriate sizes.
Place the sweet potatoes in a steamer and steam for about 20 minutes.
Transfer the cooked sweet potatoes into a bowl and mash them smoothly.
Add milk and honey to the mashed sweet potatoes and mix until creamy.
Place the mousse in a bowl and chill in the refrigerator for about 30 minutes.