Preheat your oven to 350°F (175°C) and prepare a 9x13 inch pan with nonstick baking spray.
In a mixing bowl, combine the cake mix, mashed sweet potato, cream cheese, vegetable oil, eggs, and vanilla extract. Mix on medium-low speed until well combined.
In a small bowl, mix together the brown sugar, cinnamon, ginger, and nutmeg for the filling.
Pour half of the cake batter into the prepared pan, then sprinkle the sugar and spice mixture over it. Top with the remaining batter and swirl gently with a knife.
Bake for 27 to 29 minutes, or until golden brown and a toothpick inserted in the center comes out clean. Allow to cool for 30 minutes in the pan.
For the icing, whisk together the confectioners’ sugar, milk, and maple syrup until smooth.
Once the cake is cooled, pour the icing over the top and let sit for 10 minutes before slicing into 24 pieces.
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Notes
Store leftovers in an airtight container at room temperature for up to 3 days or refrigerate for longer freshness.