Preheat the oven to 350 degrees. Prick the sweet potatoes all over with a fork and place on a rimmed baking sheet. Bake for 45 – 60 minutes or until very tender. Remove from heat and slice the top of each sweet potato with a knife to allow the steam to release. Allow to cool for about 10 minutes or overnight.

When cool enough to handle, scoop out the flesh of each sweet potato and place in a large bowl. Add the milk, maple syrup, eggs, butter, orange zest and juice, vanilla, and salt. Beat on medium speed with a hand mixer until smooth.

Grease a 2 1/2 quart baking dish with cooking spray. Spoon the sweet potato mixture into the prepared baking dish and spread evenly.

Place the oats, flour, brown sugar, cinnamon and pinch of salt into a medium bowl. Cut in the butter with a pastry blender, fork or your fingers until the butter is incorporated and the mixture is in pea-sized clumps. Stir in the pecan pieces just until incorporated.

Sprinkle the streusel evenly over the sweet potato mixture. At this point, you may cover the casserole and store in the fridge for 1-2 days until you’re ready to bake it.

Bake at 350 degrees for about 45 minutes or until puffed and the streusel is golden brown, covering with foil if it begins to brown too quickly. Remove from heat and cool for 10 minutes. Serve and enjoy!