sweet potato cinnamon rolls

Ingredients

• 3/4 cup milk
• 1/4 cup butter
• 2 tablespoons sugar
• 2 1/4 teaspoons active dry yeast or one package
• 3 1/2 cups bread flour
• 1/2 cup cooked mashed sweet potatoes
• 1/2 teaspoon cinnamon or cardamon
• 1/2 teaspoon salt
• 1 tablespoon orange or lemon zest (we used lemon)
• FILLING
• 1/2 cup butter, softened
• 1 cup brown sugar
• 1/2 teaspoon cinnamon
• 3 tablespoons cooked, mashed sweet potatoes
• ICING
• 4 ounces cream cheese, softened
• 2 tablespoons butter, softened
• 1/2 teaspoon vanilla extract
• 2 tablespoons orange juice or fresh lemon juice
• 1 tablespoon grated orange peel or lemon
• 2 1/2 cups powdered sugar